Resource collaborative configuration method in TSN heterogeneous fusion network and TSN gateway

Abstract

The invention relates to the technical field of heterogeneous network convergence, in particular to a resource collaborative configuration method in a TSN heterogeneous convergence network and a TSN gateway. The configuration method comprises the following steps: establishing a resource configuration objective function which takes a flow scheduling period to be optimized, an initial offset moment, time synchronization precision, a transmission priority and a buffer area size as decision variables, and configuring the flow scheduling period, the initial offset moment, the time synchronization precision, the transmission priority and the buffer area size under a gateway constraint condition and a TSN network constraint condition, solving the optimized flow scheduling period, the initial offset moment, the time synchronization precision, the transmission priority and the buffer area size of the plurality of one-way data flows which minimize the resource configuration objective function as resource configuration parameters of the plurality of one-way data flows; and configuring the TSN heterogeneous fusion network according to the resource configuration parameters of the plurality of unidirectional data streams. According to the invention, after the non-TSN is accessed to the time-sensitive network, the system resource overhead of the heterogeneous network is reduced on the premise of ensuring the certainty of the data flow.

Description

Technical Field

[0001] This disclosure relates to the field of heterogeneous network convergence technology, specifically to a resource collaborative configuration method and a TSN gateway in a TSN (Time-Sensitive Networking) heterogeneous converged network. Background Technology

[0002] TSN is a series of standards developed by the IEEE 802.1 working group, designed to provide deterministic transmission capabilities for standard Ethernet, and has now become a core network technology for the Industrial Internet and Industry 4.0. Its key mechanisms, such as time-triggered scheduling (IEEE 802.1Qbv), rely on sub-microsecond high-precision time synchronization across the entire network.

[0003] However, various non-TSN industrial Ethernet protocols, such as EtherCAT, PROFINET, Ethernet / IP, TTEthernet, and TTCAN, are widely deployed in industrial environments. While these networks possess good real-time performance within their respective domains, their communication mechanisms and clock synchronization accuracy differ significantly from TSN. Therefore, connecting these heterogeneous networks to the TSN network naturally presents certain technical challenges: because the data traffic of non-TSN networks typically has specific frame structures, communication cycles, and jitter characteristics, its output traffic jitter is significant. Directly injecting it into TSN would disrupt the time determinism upon which TSN scheduling relies, causing data packets to miss reserved time slots, thus triggering latency jitter of up to one TSN scheduling cycle.

[0004] In existing gateway technologies, the simple buffering and forwarding method can quickly send non-TSN packets into the TSN network, but it introduces jitter and undermines its deterministic guarantee. Another method based on worst-case reservation can avoid packet loss by allocating a very large time window, but because the reserved resources may far exceed the actual needs, it will waste a lot of time slot resources, thus significantly reducing the overall schedulability and resource utilization of the network.

[0005] Therefore, how to allocate as few TSN domain resources as possible to data streams from non-TSN domains to TSN domains while eliminating jitter has become an urgent technical problem to be solved. Summary of the Invention

[0006] To address the problems in related technologies, this disclosure provides a method for configuring gating lists in Time-Sensitive Networks (TSNs) and intermediate TSN switches, an intermediate TSN switch, a service transmission method, and a system.

[0007] In a first aspect, this disclosure provides a resource collaborative configuration method in a TSN heterogeneous converged network. The TSN heterogeneous converged network includes a TSN network and a non-TSN network connected to the TSN network via a TSN gateway. The TSN heterogeneous converged network is used to transmit multiple unidirectional data streams. The method is applied to the TSN gateway and includes: The maximum allowable end-to-end delay jitter, maximum allowable end-to-end delay, maximum observed jitter, and maximum time synchronization error between the TSN gateway and the non-TSN network are obtained for the unidirectional data stream. Set gateway constraints based on the maximum permissible end-to-end latency jitter of the multiple unidirectional data streams; The TSN network constraints for the unidirectional data stream are set based on the maximum permissible end-to-end delay, maximum time synchronization error, and maximum observation jitter of the unidirectional data stream. A resource allocation objective function is established with the flow scheduling period to be optimized, the start offset time, the time synchronization accuracy, the transmission priority, and the buffer size as decision variables. The flow scheduling period is the scheduling period of the unidirectional data flow in the TSN network, and the start offset time, the time synchronization accuracy, the transmission priority, and the buffer size are the start transmission time, the time synchronization accuracy, the transmission priority, and the buffer size of the unidirectional data flow in the non-TSN network, respectively. Under the gateway constraints and the TSN network constraints, the optimized flow scheduling period, start offset time, time synchronization accuracy, transmission priority, and buffer size of the multiple unidirectional data streams that minimize the resource configuration objective function are solved and used as the resource configuration parameters of the multiple unidirectional data streams. Configure the TSN heterogeneous converged network according to the resource configuration parameters of the multiple unidirectional data streams.

[0008] According to embodiments of this disclosure, the gateway constraints include: The latency jitter of the TSN gateway is less than the maximum permissible end-to-end latency jitter of any one of the plurality of unidirectional data streams.

[0009] According to embodiments of this disclosure, the TSN network constraints include: The flow scheduling period of the unidirectional data stream is greater than the sum of the maximum observation jitter of the unidirectional data stream and the maximum time synchronization error; The sum of the fixed delay of the unidirectional data flow in the TSN network, the fixed delay in the non-TSN network, and the flow scheduling period is less than or equal to the maximum allowable end-to-end delay of the unidirectional data flow.

[0010] According to embodiments of this disclosure: The TSN network includes multiple TSN transmission candidate paths, and each TSN transmission candidate path includes multiple TSN links connected in sequence. The TSN network constraints also include: the starting transmission time of the unidirectional data stream on the first TSN link, and the sum of the TSN link transmission time slot and the fixed delay are less than or equal to the starting transmission time of the unidirectional data stream on the second TSN link; the sending end of the first TSN link serves as the receiving end of the second TSN link.

[0011] According to embodiments of this disclosure: The TSN network includes multiple TSN transmission candidate paths; The TSN network constraints further include: the starting transmission time of the unidirectional data stream on the first TSN transmission candidate path is greater than or equal to zero, and the sum of the starting transmission time on the first TSN transmission candidate path and the transmission time slot of the TSN transmission candidate path is less than or equal to the stream scheduling period.

[0012] According to embodiments of this disclosure: The TSN network includes multiple TSN transmission candidate paths; The TSN network constraints also include: The time slots of any two unidirectional data streams or different data packets of the same data stream on the same or different TSN transmission candidate paths do not overlap.

[0013] According to embodiments of this disclosure, the resource allocation objective function includes a resource overhead estimation function for the TSN network and a jitter optimization cost function for the non-TSN network; The method further includes: The resource overhead estimation function is established based on the flow scheduling period to be optimized; the jitter optimization cost function is established based on the start offset time, time synchronization accuracy, transmission priority and buffer size to be optimized.

[0014] According to embodiments of this disclosure, establishing the resource overhead estimation function based on the flow scheduling period to be optimized includes: The average scheduling period of the multiple unidirectional data streams in the TSN network is used as the baseline stream scheduling period. The resource overhead estimation function is established based on the ratio between the baseline flow scheduling period and the flow scheduling period to be optimized for the unidirectional data flow.

[0015] According to embodiments of this disclosure, establishing the jitter optimization cost function based on the starting offset time to be optimized, time synchronization accuracy, transmission priority, and buffer size includes: Obtain the earliest time slot reference, basic clock synchronization accuracy, lowest available transmission priority, highest available transmission priority, and basic buffer size of the non-TSN network; The relative starting offset of the corresponding unidirectional data stream is obtained based on the starting offset time to be optimized and the earliest time slot reference. The relative accuracy improvement is obtained based on the time synchronization accuracy to be optimized and the basic clock synchronization accuracy. The normalized priority of the corresponding unidirectional data stream is obtained based on the transmission priority to be optimized, the lowest available transmission priority, and the highest available transmission priority. The buffer expansion ratio is obtained based on the size of the buffer to be optimized and the basic buffer size; The jitter optimization cost function is established based on the relative starting offset, the relative precision improvement, the normalization priority, and the buffer expansion ratio.

[0016] According to embodiments of this disclosure, configuring the TSN heterogeneous converged network based on resource configuration parameters of the plurality of unidirectional data streams includes: The optimized flow scheduling period of the multiple unidirectional data streams is sent to the TSN network, wherein the TSN network configures the TSN scheduling period table according to the flow scheduling period; The optimized start offset time, time synchronization accuracy, transmission priority, and buffer size of the multiple unidirectional data streams are sent to the non-TSN network, wherein the non-TSN network configures corresponding communication resources according to the start offset time, time synchronization accuracy, transmission priority, and buffer size.

[0017] According to embodiments of this disclosure, the method further includes: Monitor the maximum observed jitter of the unidirectional data stream; When the maximum observed jitter exceeds a preset threshold, the configuration of the TSN heterogeneous fusion network is re-executed.

[0018] Secondly, this disclosure provides a TSN gateway, which is set up in a TSN heterogeneous converged network. The TSN heterogeneous converged network includes a TSN network and a non-TSN network connected to the TSN network based on the TSN gateway. The TSN heterogeneous converged network is used to transmit multiple unidirectional data streams. The TSN gateway includes a central controller. The central controller is configured as follows: The maximum allowable end-to-end delay jitter, maximum allowable end-to-end delay, maximum observed jitter, and maximum time synchronization error between the TSN gateway and the non-TSN network are obtained for the unidirectional data stream. Set gateway constraints based on the maximum permissible end-to-end latency jitter of the multiple unidirectional data streams; The TSN network constraints for the unidirectional data stream are set based on the maximum permissible end-to-end delay, maximum time synchronization error, and maximum observation jitter of the unidirectional data stream. A resource allocation objective function is established with the flow scheduling period to be optimized, the start offset time, the time synchronization accuracy, the transmission priority, and the buffer size as decision variables. The flow scheduling period is the scheduling period of the unidirectional data flow in the TSN network, and the start offset time, the time synchronization accuracy, the transmission priority, and the buffer size are the start transmission time, the time synchronization accuracy, the transmission priority, and the buffer size of the unidirectional data flow in the non-TSN network, respectively. Under the gateway constraints and the TSN network constraints, the optimized flow scheduling period, start offset time, time synchronization accuracy, transmission priority, and buffer size of the multiple unidirectional data streams that minimize the resource configuration objective function are solved and used as the resource configuration parameters of the multiple unidirectional data streams. Configure the TSN heterogeneous converged network according to the resource configuration parameters of the multiple unidirectional data streams.

[0019] According to embodiments of this disclosure: The resource allocation objective function includes the resource overhead estimation function of the TSN network and the jitter optimization cost function of the non-TSN network; The central controller is further configured to: establish the resource overhead estimation function based on the flow scheduling period to be optimized; and establish the jitter optimization cost function based on the start offset time, time synchronization accuracy, transmission priority, and buffer size to be optimized.

[0020] According to embodiments of this disclosure, establishing the resource overhead estimation function based on the flow scheduling period to be optimized includes: The average scheduling period of the multiple unidirectional data streams in the TSN network is used as the baseline stream scheduling period. The resource overhead estimation function is established based on the ratio between the baseline flow scheduling period and the flow scheduling period to be optimized for the unidirectional data flow.

[0021] According to embodiments of this disclosure, establishing the jitter optimization cost function based on the starting offset time to be optimized, time synchronization accuracy, transmission priority, and buffer size includes: Obtain the earliest time slot reference, basic clock synchronization accuracy, lowest available transmission priority, highest available transmission priority, and basic buffer size of the non-TSN network; The relative starting offset of the corresponding unidirectional data stream is obtained based on the starting offset time to be optimized and the earliest time slot reference. The relative accuracy improvement is obtained based on the time synchronization accuracy to be optimized and the basic clock synchronization accuracy. The normalized priority of the corresponding unidirectional data stream is obtained based on the transmission priority to be optimized, the lowest available transmission priority, and the highest available transmission priority. The buffer expansion ratio is obtained based on the size of the buffer to be optimized and the basic buffer size; The jitter optimization cost function is established based on the relative starting offset, the relative precision improvement, the normalization priority, and the buffer expansion ratio.

[0022] According to embodiments of this disclosure, the central controller is further configured to: Monitor the maximum observed jitter of the unidirectional data stream; When the maximum observed jitter exceeds a preset threshold, the configuration of the TSN heterogeneous fusion network is re-executed.

[0023] Thirdly, embodiments of this disclosure provide a computer-readable storage medium having computer instructions stored thereon, characterized in that, when executed by a processor, the computer instructions implement the method as described in any of the first aspects.

[0024] Fourthly, embodiments of this disclosure provide a computer program product including computer instructions that, when executed by a processor, implement the method as described in any of the first aspects.

[0025] This disclosure establishes a resource configuration objective function with the flow scheduling period to be optimized, the start offset time, the time synchronization accuracy, the transmission priority, and the buffer size as decision variables. Under gateway constraints and TSN network constraints, it solves for the optimized flow scheduling period, start offset time, time synchronization accuracy, transmission priority, and buffer size of each unidirectional data flow that minimizes the resource configuration objective function, and uses these as resource configuration parameters for the unidirectional data flow. Then, it configures the TSN heterogeneous converged network based on the resource configuration parameters of the multiple unidirectional data flows.

[0026] This disclosure can adapt to the characteristics of heterogeneous networks and finely configure network resources, achieving a better balance between deterministic transmission and resource consumption. In TSN networks that are connected to non-TSN networks, it ensures the determinism of data flow while reducing the system resource overhead of the heterogeneous converged network.

[0027] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0028] Other features, objects, and advantages of this disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings: Figure 1 A flowchart illustrating a resource collaborative configuration method in a TSN heterogeneous converged network according to an embodiment of the present disclosure is shown. Figure 2 A schematic diagram of a TSN heterogeneous converged network to which the resource collaborative configuration method according to an embodiment of the present disclosure is applied is shown; Figure 3 A schematic diagram of another TSN heterogeneous converged network to which the resource collaborative configuration method according to an embodiment of the present disclosure is applied; Figure 4 This diagram illustrates the configuration of a TSN scheduling period table according to a flow scheduling period in a resource collaborative configuration method according to an embodiment of the present disclosure; Figure 5 A schematic diagram of a TSN gateway according to an embodiment of the present disclosure is shown. Detailed Implementation

[0029] In the following, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement them. Furthermore, for clarity, portions unrelated to the description of exemplary embodiments have been omitted from the drawings.

[0030] In this disclosure, it should be understood that terms such as “comprising” or “having” are intended to indicate the presence of features, figures, steps, behaviors, components, parts or combinations thereof disclosed in this specification, and are not intended to exclude the possibility of the presence or addition of one or more other features, figures, steps, behaviors, components, parts or combinations thereof.

[0031] It should also be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other. This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0032] In this disclosure, any operation involving the acquisition of user information or user data, or the display of user information or user data to others, is an operation authorized or confirmed by the user, or actively selected by the user.

[0033] As mentioned earlier, existing technologies can allocate extremely large time windows for asynchronously accessed packets based on worst-case reservation methods, thereby providing a deterministic transmission guarantee for data streams accessing the TSN network from non-TSN networks. Since the arrival time of non-TSN network packets at the TSN network is uncertain, the waiting time for packets to access transmission slots is not fixed, but is limited by… The interval is between, where T is the flow scheduling period of the data flow in the TSN network. Existing technology introduces a dwell time at the ingress switch of the TSN network. A latency was introduced at the egress switch of the TSN network. By setting the dwell time plus the waiting time to equal T, that is... By delaying and reserving packets at ingress and egress switches, jitter is eliminated at the cost of fixed end-to-end latency.

[0034] After in-depth research, the inventors discovered that while the worst-case reservation method in existing technologies solves the network jitter problem caused by traffic from other sources, it also brings some new challenges: (1) Gateway performance bottleneck: Internet gateways need to handle the conversion of various heterogeneous protocols, which places extremely high demands on the gateway's processing power and time accuracy. Simple software implementations cannot meet the microsecond-level jitter requirements.

[0035] (2) Over-allocation of resources: For non-TSN networks with large jitter (such as Profinet RT, where jitter can reach 100μs), the required flow scheduling cycle is very large, resulting in a large resource window reserved for the flow in the TSN domain, which seriously squeezes out the resources of other flows and easily leads to scheduling failure.

[0036] (3) Existing methods often view non-TSN domains and TSN domains in isolation, without coordinating the optimization of resource allocation between the two domains.

[0037] This disclosure provides a resource collaborative configuration method in a TSN heterogeneous converged network. The TSN heterogeneous converged network includes a TSN network and a non-TSN network connected to the TSN network via a TSN gateway. The TSN heterogeneous converged network is used to transmit multiple unidirectional data streams. The method is applied to the TSN gateway and includes: Obtain the maximum allowable end-to-end delay jitter, maximum allowable end-to-end delay, maximum observed jitter of the unidirectional data stream, and the maximum time synchronization error between the TSN gateway and the non-TSN network; set gateway constraints based on the maximum allowable end-to-end delay jitter of the multiple unidirectional data streams; set TSN network constraints for the unidirectional data stream based on the maximum allowable end-to-end delay, maximum time synchronization error, and maximum observed jitter of the unidirectional data stream; establish a resource configuration objective function with the stream scheduling period to be optimized, start offset time, time synchronization accuracy, transmission priority, and buffer size as decision variables, wherein the stream scheduling period is the time between the unidirectional data stream and the start offset time. In the TSN network, the scheduling period, starting offset time, time synchronization accuracy, transmission priority, and buffer size are respectively the starting transmission time, time synchronization accuracy, transmission priority, and buffer size of the unidirectional data stream in the non-TSN network. Under the gateway constraints and the TSN network constraints, the optimized flow scheduling period, starting offset time, time synchronization accuracy, transmission priority, and buffer size of the multiple unidirectional data streams that minimize the resource configuration objective function are solved and used as the resource configuration parameters of the multiple unidirectional data streams. The TSN heterogeneous converged network is configured according to the resource configuration parameters of the multiple unidirectional data streams.

[0038] This disclosure can better adapt to the characteristics of heterogeneous networks, finely configure network time slot resources, and achieve a better balance between deterministic transmission and resource configuration. In TSN networks that are connected to non-TSN networks, it reduces the system resource overhead of the heterogeneous converged network while ensuring the determinism of data flow.

[0039] Figure 1 A flowchart illustrating a resource collaborative configuration method in a TSN heterogeneous converged network according to an embodiment of the present disclosure is shown.

[0040] like Figure 1 As shown, the method includes steps S101 to S106, wherein the method is applied to a TSN gateway.

[0041] In this disclosure, the TSN heterogeneous converged network includes a TSN network and a non-TSN network connected to the TSN network via a TSN gateway. The TSN heterogeneous converged network is used to transmit multiple unidirectional data streams.

[0042] Figure 2 and Figure 3 Schematic diagrams of the two TSN heterogeneous converged networks used in this disclosure are shown respectively. Those skilled in the art should understand that... Figure 2 and Figure 3 The application scenarios shown are not intended to limit the scope of protection of this disclosure.

[0043] Figure 2 This diagram illustrates a TSN heterogeneous converged network to which the resource collaborative configuration method according to embodiments of this disclosure is applied; as shown Figure 2 As shown, the heterogeneous converged TSN network includes a TSN network and a non-TSN network. The TSN network includes a TSN gateway, six TSN switches, and one TSN terminal device. The non-TSN network includes one master device and two slave devices. TSN switch 1 in the TSN network is connected to the master device in the non-TSN network through the TSN gateway.

[0044] Figure 3 This diagram illustrates another TSN heterogeneous converged network to which the resource collaborative configuration method according to embodiments of this disclosure is applied; as shown Figure 3 As shown, the TSN heterogeneous converged network includes one TSN network and two non-TSN networks. The TSN network includes a TSN gateway, three TSN switches, and two TSN terminal devices. One non-TSN network includes one master device and two slave devices, and the other non-TSN network includes one master device and three slave devices. TSN switch 1 in the TSN network is connected to the master devices of the two non-TSN networks through the TSN gateway.

[0045] Therefore, the TSN network can form the heterogeneous converged TSN network by accessing one or more non-TSN networks.

[0046] According to embodiments of this disclosure, the TSN network is for each unidirectional data stream. Multiple TSN transmission candidate paths are provided, which include multiple TSN links connected in sequence.

[0047] Assuming a unidirectional data flow, the first... The TSN transmission candidate paths are This TSN transmission candidate path Including multiple TSN links , .by Figure 2 For example, as shown in the example, assume that TSN switch 1, TSN switch 2, TSN switch 3, TSN switch 6, and TSN terminal device are the first... TSN transmission candidate paths Then the TSN transmission candidate path It includes four TSN links, namely: the first TSN link, which consists of TSN switch 1 as the sending end and TSN switch 2 as the receiving end. The second TSN link consists of TSN switch 2 as the sending end and TSN switch 3 as the receiving end. The third TSN link consists of TSN switch 3 as the sending end and TSN switch 6 as the receiving end. The fourth TSN link consists of a TSN switch 6 as the sending end and a TSN terminal device as the receiving end. .

[0048] In step S101, the maximum allowable end-to-end delay jitter, the maximum allowable end-to-end delay, the maximum observed jitter of the unidirectional data stream, and the maximum time synchronization error between the TSN gateway and the non-TSN network are obtained.

[0049] Among them, the maximum permissible end-to-end delay jitter It is a one-way data flow The maximum allowed time from when the data is generated at the sending end to when it is received at the receiving end; maximum allowed end-to-end delay. It is a one-way data flow The range of end-to-end delay variation; the maximum permissible end-to-end delay jitter. Maximum permissible end-to-end delay This can be obtained by analyzing the functional requirements of the upper-layer application.

[0050] Maximum observation jitter It is a one-way data flow The jitter introduced during the conversion of different network protocols at the TSN gateway is a statistical observation value, which can be obtained by observing the unidirectional data stream for a set duration in a designed test scenario. The jitter event is used to obtain the data.

[0051] The maximum time synchronization error It is the maximum time synchronization error between the TSN gateway and the master station (or master clock) of the non-TSN network.

[0052] In step S102, gateway constraints are set based on the maximum permissible end-to-end delay jitter of the plurality of unidirectional data streams.

[0053] According to embodiments of this disclosure, the gateway constraints include: the latency jitter of the TSN gateway. Smaller than any one of the plurality of unidirectional data streams Maximum permissible end-to-end delay jitter Specifically, this can be expressed by the following logical formula: , ， in, This is a set of unidirectional data streams, which includes the plurality of unidirectional data streams. .

[0054] In step S103, the TSN network constraints of the unidirectional data stream are set according to the maximum permissible end-to-end delay, maximum time synchronization error, and maximum observation jitter of the unidirectional data stream.

[0055] According to embodiments of this disclosure, the TSN network constraints include: The flow scheduling cycle of the unidirectional data stream Greater than the unidirectional data stream Maximum observation jitter With the maximum time synchronization error The sum; specifically, it can be expressed by the following logical formula: , ; The fixed latency of the unidirectional data stream in the TSN network Fixed latency in the non-TSN network With the flow scheduling period The sum of these values ​​is less than or equal to the maximum permissible end-to-end delay of the unidirectional data stream. Specifically, it can be expressed by the following logical formula: , .

[0056] Furthermore, the TSN network constraints also include: The sum of the start time of the unidirectional data stream on the first TSN link, the TSN link transmission time slot, and the fixed delay is less than or equal to the start time of the unidirectional data stream on the second TSN link, and the sending end of the first TSN link acts as the receiving end of the second TSN link; this can be achieved through the following logical formula: , ;in, unidirectional data flow The The data packet in the first TSN transmission candidate paths The TSN links The receiving end, unidirectional data flow The The data packet in the first TSN transmission candidate paths The TSN links The sending end; For the unidirectional data stream The The data packet in the first TSN transmission candidate paths The TSN links The start time of transmission on For the unidirectional data stream The The data packet in the first TSN transmission candidate paths The TSN links The start time of transmission on For the unidirectional data stream The The data packet in the first TSN transmission candidate paths The TSN links TSN link transmission time slots on For the unidirectional data stream The The data packet in the first TSN transmission candidate paths The TSN links Fixed delay on the surface.

[0057] Furthermore, the TSN network constraints also include: The unidirectional data stream's initial transmission time on the first TSN transmission candidate path is greater than or equal to zero, and the sum of the initial transmission time on the first TSN transmission candidate path and the transmission time slot of the TSN transmission candidate path is less than or equal to the stream scheduling period; this can be achieved through the following logical formula: ;in, For the unidirectional data stream The The data packet in the first TSN transmission candidate paths The TSN links The start time of transmission; For the unidirectional data stream The The data packet in the first TSN transmission candidate paths The TSN links The TSN link transmission time slot on the network, "∧" indicates the "and" relationship.

[0058] Furthermore, the TSN network constraints also include: The time slots of any two unidirectional data streams or different data packets from the same data stream on the same or different TSN transmission candidate paths do not overlap; this is achieved through the following logical formula: ∧ ∧ ∨ ; in, express and For any two different unidirectional data streams, or in the unidirectional data stream and Under the premise of the same unidirectional data flow, and These are two different data packets within the same unidirectional data stream; "∨" indicates an "OR" relationship.

[0059] and All are binary indicator variables; For the unidirectional data stream The The data message selects the first TSN transmission candidate paths Whether to use TSN link , For the unidirectional data stream The The data message selects the first TSN transmission candidate paths Whether to use TSN link A value of 1 in the binary indicator variable indicates the use of a TSN link. A value of 0 indicates that the TSN link is not used. .

[0060] For the unidirectional data stream The The data packet in the first TSN transmission candidate paths In TSN link The start time of transmission, For the unidirectional data stream The The data packet in the first TSN transmission candidate paths In TSN link The start time of transmission; For the unidirectional data stream The The data packet in the first TSN transmission candidate paths In TSN link Uplink transmission time slot, For the unidirectional data stream The The data packet in the first TSN transmission candidate paths In TSN link Uplink transmission time slot, For the unidirectional data stream The flow scheduling period, T m For the unidirectional data stream The flow scheduling cycle; For the unidirectional data stream The flow scheduling period and the unidirectional data flow The macro cycle of the flow scheduling cycle.

[0061] ;in, This indicates the calculation of the least common multiple.

[0062] That is, any From 0 to ( Integers between 1 and 2.

[0063] That is, any From 0 to ( Integers between 1 and 2.

[0064] In step S104, a resource configuration objective function is established with the stream scheduling period to be optimized, the start offset time, the time synchronization accuracy, the transmission priority, and the buffer size as decision variables. The stream scheduling period is the scheduling period of the unidirectional data stream in the TSN network, and the start offset time, the time synchronization accuracy, the transmission priority, and the buffer size are the start transmission time, the time synchronization accuracy, the transmission priority, and the buffer size of the unidirectional data stream in the non-TSN network, respectively.

[0065] The resource allocation objective function includes the resource cost estimation function of the TSN network and the jitter optimization cost function of the non-TSN network.

[0066] Furthermore, the resource overhead estimation function is established based on the flow scheduling period to be optimized; the jitter optimization cost function is established based on the start offset time, time synchronization accuracy, transmission priority, and buffer size to be optimized.

[0067] According to embodiments of this disclosure, establishing the resource overhead estimation function based on the flow scheduling period to be optimized includes: The average scheduling period of the multiple unidirectional data flows in the TSN network is used as the baseline flow scheduling period; the resource overhead estimation function is established based on the ratio between the baseline flow scheduling period and the flow scheduling period to be optimized for the unidirectional data flows.

[0068] Specifically, the resource cost estimation function is: ,in, It is the baseline flow scheduling period, which is achieved by controlling the multiple unidirectional data flows. The average value of the flow scheduling period is used as the baseline flow scheduling period. For any unidirectional data stream The flow scheduling period, i.e., the period during which the unidirectional data flow is transmitted in the TSN network. Transmission time slots on the TSN transmission path.

[0069] According to embodiments of this disclosure, establishing the jitter optimization cost function based on the starting offset time to be optimized, time synchronization accuracy, transmission priority, and buffer size includes: Obtain the earliest time slot reference, basic clock synchronization accuracy, lowest available transmission priority, highest available transmission priority, and basic buffer size of the non-TSN network; obtain the relative starting offset of the corresponding unidirectional data stream based on the starting offset time to be optimized and the earliest time slot reference; obtain the relative accuracy improvement based on the time synchronization accuracy to be optimized and the basic clock synchronization accuracy; obtain the normalized priority of the corresponding unidirectional data stream based on the transmission priority to be optimized, the lowest available transmission priority, and the highest available transmission priority; obtain the buffer expansion ratio based on the buffer size to be optimized and the basic buffer size; and establish the jitter optimization cost function based on the relative starting offset, the relative accuracy improvement, the normalized priority, and the buffer expansion ratio.

[0070] In this disclosure, the jitter optimization cost function is: ,in, Let cost function be These are parameters for the non-TSN network where the unidirectional data flow resides. Furthermore, Includes the following four network parameters:

[0071] ; in, This represents the relative starting offset of a unidirectional data stream. This represents the relative improvement in accuracy. Normalized priority for unidirectional data streams This refers to the buffer expansion ratio; , , , It is a weighting factor, with a value range of [0, 1], and This reflects the scarcity of resources or optimization tendencies in different non-TSN network scenarios.

[0072] Furthermore, the earliest time slot reference of the non-TSN network is obtained. Basic clock synchronization accuracy Lowest available transmission priority Highest available transmission priority and base buffer size .

[0073] Among them, the earliest time slot reference The non-TSN network is a unidirectional data flow. A theoretically allocated start time for transmission; basic clock synchronization accuracy. This refers to the maximum time deviation that can be achieved between the local clocks and the master clock of all devices participating in synchronization in a non-TSN network; lowest available transmission priority. Highest available transmission priority This refers to the lowest and highest transmission priorities available in non-TSN networks; the basic buffer size. This refers to the minimum memory capacity of the queue used to temporarily store messages to be sent on each device port in a non-TSN network.

[0074] Based on the starting offset time to be optimized and the earliest time slot reference Resulting in a one-way data stream Relative starting offset ,in, .

[0075] The cost of considering start transmission time in non-TSN networks stems from the fact that different time slices can be allocated to different data streams in many non-TSN networks. Allocating an earlier, less disruptive transmission time slot to a data stream can significantly reduce its packet queuing delay and jitter in the non-TSN domain. Therefore, "preempting" an earlier time slot for a data stream comes at a cost, as it may disrupt the transmission patterns of other data streams and increase scheduling complexity.

[0076] Based on the time synchronization accuracy to be optimized and the basic clock synchronization accuracy Obtain the relative accuracy improvement ,in, .

[0077] In non-TSN networks, the cost of improving synchronization accuracy is that increasing time synchronization accuracy (e.g., from microseconds to nanoseconds) means that synchronization messages need to be exchanged more frequently, or that more complex hardware (such as physical chips that support precise timestamps) is required, resulting in additional network bandwidth and computing resources being consumed.

[0078] Based on the transmission priority to be optimized The lowest available transmission priority The highest available transmission priority Obtain the normalized priority of the corresponding unidirectional data stream. ,in, .

[0079] The cost of prioritizing traffic in non-TSN networks stems from the need for mapping and conversion of priority systems between the two networks when they interconnect. Assigning higher priority to critical traffic in non-TSN domains ensures more timely forwarding within the local domain, reducing queuing delays and jitter. This "cost" manifests in two ways: first, the complexity of configuration management; and second, the fact that high-priority resources are typically limited in non-TSN networks, and allocating them to certain data flows may render other data flows unusable.

[0080] Based on the size of the buffer to be optimized and the size of the base buffer Obtain the buffer expansion ratio ,in, .

[0081] In non-TSN networks, the cost of increasing the buffer size is that while a larger buffer can absorb more jitter, it requires more hardware memory resources. If the buffer is set too large, packets may remain in the queue for too long. For some real-time applications (such as voice and video), excessive latency, even if very stable (i.e., with low jitter), is unacceptable.

[0082] In step S105, under the gateway constraints and the TSN network constraints, the optimized flow scheduling period, start offset time, time synchronization accuracy, transmission priority, and buffer size of the plurality of unidirectional data streams that minimize the resource configuration objective function are solved and used as resource configuration parameters for the plurality of unidirectional data streams.

[0083] The objective function for resource allocation can be solved using heuristic algorithms or mathematical programming solvers, but is not limited to these methods.

[0084] In step S106, the TSN heterogeneous converged network is configured according to the resource configuration parameters of the multiple unidirectional data streams.

[0085] According to an embodiment of this disclosure, the optimized flow scheduling period of the plurality of unidirectional data flows is sent to the TSN network, wherein the TSN network configures a TSN scheduling period table according to the flow scheduling period.

[0086] Figure 4 This diagram illustrates the configuration of a TSN scheduling period table based on a flow scheduling period in a resource collaborative configuration method according to an embodiment of the present disclosure.

[0087] Figure 4 The example shown illustrates the configuration of the TSN scheduling period table based on the flow scheduling period in this disclosure using two data streams as an example. Figure 4 The examples shown are for illustrative purposes only, and the number of unidirectional data streams is not intended to limit the scope of protection of this disclosure.

[0088] Assume that after solving the objective function for resource allocation, the first unidirectional data flow is obtained. Second unidirectional data stream The flow scheduling periods T1 and T2 are defined as follows: the first and second unidirectional data flows are transmitted via TSN transmission path 1 and TSN transmission path 2. Both TSN transmission path 1 and TSN transmission path 2 flow through the first TSN switch, that is, the first TSN switch needs to transmit the first unidirectional data flow and the second unidirectional data flow simultaneously. Further, it is assumed that T1 = 300 μs and T2 = 200 μs.

[0089] Therefore, when configuring the gating list of the first TSN switch, the TSN scheduling macro period must first be determined. This TSN scheduling macro period can be obtained by calculating the least common multiple of the scheduling periods of the transmitted data streams. For example, if T1 = 300μs and T2 = 200μs, then LCM(200μs, 300μs) = 600μs. This TSN macro period can be set to an integer multiple of this value (such as 600μs, 1200μs, etc.).

[0090] Subsequently, the TSN controller will calculate the starting phase of the switch's gating list on the time axis based on the global time reference (gPTP) of the TSN network, combined with the fixed link transmission delay between the first TSN switch and the previous hop device, as well as the dwell time of the data stream in the previous hop switch, thereby completing the start time setting of its gating list.

[0091] According to embodiments of this disclosure, the optimized start offset time, time synchronization accuracy, transmission priority, and buffer size of the plurality of unidirectional data streams are sent to the non-TSN network, wherein the non-TSN network configures corresponding communication resources according to the start offset time, time synchronization accuracy, transmission priority, and buffer size.

[0092] This disclosure provides end-to-end deterministic transmission guarantees and, through a joint optimization model, coordinates the configuration of network parameters at both ends, avoiding resource waste caused by worst-case reservations and significantly improving network resource utilization while meeting deterministic requirements.

[0093] According to embodiments of this disclosure, the method further includes: monitoring the maximum observation jitter of the unidirectional data stream; and reconfiguring the TSN heterogeneous fusion network when the maximum observation jitter exceeds a preset threshold.

[0094] This disclosure provides a general model that is decoupled from specific network types by identifying the maximum observation jitter of different non-TSN networks and the corresponding maximum time synchronization error with the TSN gateway, and can be adapted to a variety of non-TSN networks.

[0095] Figure 5 A schematic diagram of a TSN gateway according to an embodiment of the present disclosure is shown.

[0096] like Figure 5 As shown, the TSN gateway is set up in a TSN heterogeneous converged network, which includes a TSN network and a non-TSN network connected to the TSN network via the TSN gateway. The TSN heterogeneous converged network is used to transmit multiple unidirectional data streams, and the TSN gateway includes a central controller. The central controller is configured as follows: Obtain the maximum allowable end-to-end latency jitter, maximum allowable end-to-end latency, and maximum observation jitter of the unidirectional data stream, as well as the maximum time synchronization error between the TSN gateway and the non-TSN network; set gateway constraints based on the maximum allowable end-to-end latency jitter of the multiple unidirectional data streams; set TSN network constraints for the unidirectional data stream based on the maximum allowable end-to-end latency, maximum time synchronization error, and maximum observation jitter of the unidirectional data stream; establish a resource configuration objective function with the stream scheduling period to be optimized, start offset time, time synchronization accuracy, transmission priority, and buffer size as decision variables. The flow scheduling period is the scheduling period of the unidirectional data flow in the TSN network. The start offset time, time synchronization accuracy, transmission priority, and buffer size are the start transmission time, time synchronization accuracy, transmission priority, and buffer size of the unidirectional data flow in the non-TSN network, respectively. Under the gateway constraints and the TSN network constraints, the optimized flow scheduling period, start offset time, time synchronization accuracy, transmission priority, and buffer size of the multiple unidirectional data flows that minimize the resource configuration objective function are solved and used as the resource configuration parameters of the multiple unidirectional data flows. Configure the TSN heterogeneous converged network according to the resource configuration parameters of the multiple unidirectional data streams.

[0097] Specifically, the central network controller identifies the network topology of the TSN heterogeneous converged network, thereby determining the network type of one or more non-TSN networks connected to the TSN network, as well as the QoS (Quality of Service) requirements of all unidirectional data flows. Based on the network type and QoS requirements of the non-TSN networks, the controller obtains the maximum allowable end-to-end latency jitter, maximum allowable end-to-end latency, and maximum time synchronization error of the corresponding unidirectional data flows.

[0098] According to embodiments of this disclosure, the resource allocation objective function includes a resource overhead estimation function for the TSN network and a jitter optimization cost function for the non-TSN network; The central controller is further configured to: establish the resource overhead estimation function based on the flow scheduling period to be optimized; and establish the jitter optimization cost function based on the start offset time, time synchronization accuracy, transmission priority, and buffer size to be optimized.

[0099] According to embodiments of this disclosure, establishing the resource overhead estimation function based on the flow scheduling period to be optimized includes: The average scheduling period of the multiple unidirectional data flows in the TSN network is used as the baseline flow scheduling period; the resource overhead estimation function is established based on the ratio between the baseline flow scheduling period and the flow scheduling period to be optimized for the unidirectional data flows.

[0100] According to embodiments of this disclosure, establishing the jitter optimization cost function based on the starting offset time to be optimized, time synchronization accuracy, transmission priority, and buffer size includes: Obtain the earliest time slot reference, basic clock synchronization accuracy, lowest available transmission priority, highest available transmission priority, and basic buffer size of the non-TSN network; obtain the relative starting offset of the corresponding unidirectional data stream based on the starting offset time to be optimized and the earliest time slot reference; obtain the relative accuracy improvement based on the time synchronization accuracy to be optimized and the basic clock synchronization accuracy; obtain the normalized priority of the corresponding unidirectional data stream based on the transmission priority to be optimized, the lowest available transmission priority, and the highest available transmission priority; obtain the buffer expansion ratio based on the buffer size to be optimized and the basic buffer size; and establish the jitter optimization cost function based on the relative starting offset, the relative accuracy improvement, the normalized priority, and the buffer expansion ratio.

[0101] According to an embodiment of this disclosure, the central controller is further configured to: monitor the maximum observation jitter of the unidirectional data stream; and re-execute the configuration of the TSN heterogeneous fusion network when the maximum observation jitter exceeds a preset threshold.

[0102] In particular, according to embodiments of this disclosure, the methods described above can be implemented as computer software programs. For example, embodiments of this disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program containing program code for performing the methods described above. In such embodiments, the computer program can be downloaded and installed from a network via a communication component, and / or installed from a removable medium.

[0103] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0104] The units or modules described in the embodiments of this disclosure can be implemented in software or programmable hardware. The described units or modules can also be located in a processor, and the names of these units or modules do not necessarily constitute a limitation on the unit or module itself.

[0105] In another aspect, this disclosure also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the electronic device or computer system described above; or it may be a standalone computer-readable storage medium not assembled into a device. The computer-readable storage medium stores one or more programs, which are used by one or more processors to perform the methods described in this disclosure.

[0106] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

Claims

1. A resource collaborative configuration method in a TSN heterogeneous converged network, characterized in that, The TSN heterogeneous converged network includes a TSN network and a non-TSN network connected to the TSN network via a TSN gateway. The TSN heterogeneous converged network is used to transmit multiple unidirectional data streams. The method is applied to the TSN gateway, and the method includes: The maximum allowable end-to-end delay jitter, maximum allowable end-to-end delay, maximum observed jitter, and maximum time synchronization error between the TSN gateway and the non-TSN network are obtained for the unidirectional data stream. Set gateway constraints based on the maximum permissible end-to-end latency jitter of the multiple unidirectional data streams; The TSN network constraints for the unidirectional data stream are set based on the maximum permissible end-to-end delay, maximum time synchronization error, and maximum observation jitter of the unidirectional data stream. A resource allocation objective function is established with the flow scheduling period to be optimized, the start offset time, the time synchronization accuracy, the transmission priority, and the buffer size as decision variables. The flow scheduling period is the scheduling period of the unidirectional data flow in the TSN network, and the start offset time, the time synchronization accuracy, the transmission priority, and the buffer size are the start transmission time, the time synchronization accuracy, the transmission priority, and the buffer size of the unidirectional data flow in the non-TSN network, respectively. Under the gateway constraints and the TSN network constraints, the optimized flow scheduling period, start offset time, time synchronization accuracy, transmission priority, and buffer size of the multiple unidirectional data streams that minimize the resource configuration objective function are solved and used as the resource configuration parameters of the multiple unidirectional data streams. Configure the TSN heterogeneous converged network according to the resource configuration parameters of the multiple unidirectional data streams.

2. The resource collaborative allocation method according to claim 1, characterized in that, The gateway constraints include: The latency jitter of the TSN gateway is less than the maximum permissible end-to-end latency jitter of any one of the plurality of unidirectional data streams.

3. The resource collaborative allocation method according to claim 1, characterized in that, The TSN network constraints include: The flow scheduling period of the unidirectional data stream is greater than the sum of the maximum observation jitter of the unidirectional data stream and the maximum time synchronization error; The sum of the fixed delay of the unidirectional data flow in the TSN network, the fixed delay in the non-TSN network, and the flow scheduling period is less than or equal to the maximum allowable end-to-end delay of the unidirectional data flow.

4. The resource collaborative allocation method according to claim 3, characterized in that: The TSN network includes multiple TSN transmission candidate paths, and each TSN transmission candidate path includes multiple TSN links connected in sequence. The TSN network constraints also include: the start time of the unidirectional data stream on the first TSN link, and the sum of the TSN link transmission time slot and the fixed delay are less than or equal to the start time of the unidirectional data stream on the second TSN link. The sender of the first TSN link acts as the receiver of the second TSN link.

5. The resource collaborative allocation method according to claim 3, characterized in that: The TSN network includes multiple TSN transmission candidate paths; The TSN network constraints further include: the starting transmission time of the unidirectional data stream on the first TSN transmission candidate path is greater than or equal to zero, and the sum of the starting transmission time on the first TSN transmission candidate path and the transmission time slot of the TSN transmission candidate path is less than or equal to the stream scheduling period.

6. The resource collaborative allocation method according to claim 3, characterized in that: The TSN network includes multiple TSN transmission candidate paths; The TSN network constraints also include: The time slots of any two unidirectional data streams or different data packets of the same data stream on the same or different TSN transmission candidate paths do not overlap.

7. The resource collaborative allocation method according to claim 1, characterized in that, The resource allocation objective function includes the resource overhead estimation function of the TSN network and the jitter optimization cost function of the non-TSN network; The method further includes: The resource overhead estimation function is established based on the flow scheduling period to be optimized; the jitter optimization cost function is established based on the start offset time, time synchronization accuracy, transmission priority and buffer size to be optimized.

8. The resource collaborative allocation method according to claim 7, characterized in that, The process of establishing the resource cost estimation function based on the flow scheduling period to be optimized includes: The average scheduling period of the multiple unidirectional data streams in the TSN network is used as the baseline stream scheduling period. The resource overhead estimation function is established based on the ratio between the baseline flow scheduling period and the flow scheduling period to be optimized for the unidirectional data flow.

9. The resource collaborative allocation method according to claim 7, characterized in that, The jitter optimization cost function is established based on the starting offset time to be optimized, time synchronization accuracy, transmission priority, and buffer size, including: Obtain the earliest time slot reference, basic clock synchronization accuracy, lowest available transmission priority, highest available transmission priority, and basic buffer size of the non-TSN network; The relative starting offset of the corresponding unidirectional data stream is obtained based on the starting offset time to be optimized and the earliest time slot reference. The relative accuracy improvement is obtained based on the time synchronization accuracy to be optimized and the basic clock synchronization accuracy. The normalized priority of the corresponding unidirectional data stream is obtained based on the transmission priority to be optimized, the lowest available transmission priority, and the highest available transmission priority. The buffer expansion ratio is obtained based on the size of the buffer to be optimized and the basic buffer size; The jitter optimization cost function is established based on the relative starting offset, the relative precision improvement, the normalization priority, and the buffer expansion ratio.

10. The resource collaborative allocation method according to claim 1, characterized in that, The step of configuring the TSN heterogeneous converged network according to the resource configuration parameters of the multiple unidirectional data streams includes: The optimized flow scheduling period of the multiple unidirectional data streams is sent to the TSN network, wherein the TSN network configures the TSN scheduling period table according to the flow scheduling period; The optimized start offset time, time synchronization accuracy, transmission priority, and buffer size of the multiple unidirectional data streams are sent to the non-TSN network, wherein the non-TSN network configures corresponding communication resources according to the start offset time, time synchronization accuracy, transmission priority, and buffer size.

11. The resource collaborative allocation method according to claim 1, characterized in that, The method further includes: Monitor the maximum observed jitter of the unidirectional data stream; When the maximum observed jitter exceeds a preset threshold, the configuration of the TSN heterogeneous fusion network is re-executed.

12. A TSN gateway, characterized in that, The TSN gateway is set up in the TSN heterogeneous converged network, which includes a TSN network and a non-TSN network connected to the TSN network based on the TSN gateway. The TSN heterogeneous converged network is used to transmit multiple unidirectional data streams. The TSN gateway includes a central controller. The central controller is configured as follows: The maximum allowable end-to-end delay jitter, maximum allowable end-to-end delay, maximum observed jitter, and maximum time synchronization error between the TSN gateway and the non-TSN network are obtained for the unidirectional data stream. Set gateway constraints based on the maximum permissible end-to-end latency jitter of the multiple unidirectional data streams; The TSN network constraints for the unidirectional data stream are set based on the maximum permissible end-to-end delay, maximum time synchronization error, and maximum observation jitter of the unidirectional data stream. A resource allocation objective function is established with the flow scheduling period to be optimized, the start offset time, the time synchronization accuracy, the transmission priority, and the buffer size as decision variables. The flow scheduling period is the scheduling period of the unidirectional data flow in the TSN network, and the start offset time, the time synchronization accuracy, the transmission priority, and the buffer size are the start transmission time, the time synchronization accuracy, the transmission priority, and the buffer size of the unidirectional data flow in the non-TSN network, respectively. Under the gateway constraints and the TSN network constraints, the optimized flow scheduling period, start offset time, time synchronization accuracy, transmission priority, and buffer size of the multiple unidirectional data streams that minimize the resource configuration objective function are solved and used as the resource configuration parameters of the multiple unidirectional data streams. Configure the TSN heterogeneous converged network according to the resource configuration parameters of the multiple unidirectional data streams.

13. The TSN gateway according to claim 12, characterized in that: The resource allocation objective function includes the resource overhead estimation function of the TSN network and the jitter optimization cost function of the non-TSN network; The central controller is further configured to: establish the resource overhead estimation function based on the flow scheduling period to be optimized; and establish the jitter optimization cost function based on the start offset time, time synchronization accuracy, transmission priority, and buffer size to be optimized.

14. The TSN gateway according to claim 13, characterized in that, The process of establishing the resource cost estimation function based on the flow scheduling period to be optimized includes: The average scheduling period of the multiple unidirectional data streams in the TSN network is used as the baseline stream scheduling period. The resource overhead estimation function is established based on the ratio between the baseline flow scheduling period and the flow scheduling period to be optimized for the unidirectional data flow.

15. The TSN gateway according to claim 13, characterized in that, The jitter optimization cost function is established based on the starting offset time to be optimized, time synchronization accuracy, transmission priority, and buffer size, including: Obtain the earliest time slot reference, basic clock synchronization accuracy, lowest available transmission priority, highest available transmission priority, and basic buffer size of the non-TSN network; The relative starting offset of the corresponding unidirectional data stream is obtained based on the starting offset time to be optimized and the earliest time slot reference. The relative accuracy improvement is obtained based on the time synchronization accuracy to be optimized and the basic clock synchronization accuracy. The normalized priority of the corresponding unidirectional data stream is obtained based on the transmission priority to be optimized, the lowest available transmission priority, and the highest available transmission priority. The buffer expansion ratio is obtained based on the size of the buffer to be optimized and the basic buffer size; The jitter optimization cost function is established based on the relative starting offset, the relative precision improvement, the normalization priority, and the buffer expansion ratio.

16. The TSN gateway according to claim 12, characterized in that, The central controller is also configured to: Monitor the maximum observed jitter of the unidirectional data stream; When the maximum observed jitter exceeds a preset threshold, the configuration of the TSN heterogeneous fusion network is re-executed.

17. A computer-readable storage medium storing computer instructions thereon, characterized in that, When executed by a processor, the computer instructions implement the method described in any one of claims 1 to 11.

18. A computer program product comprising computer instructions that, when executed by a processor, implement the method of any one of claims 1 to 11.

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