The traffic scheduling mechanism in Time-Sensitive Networking (TSN) is the key to guaranteeing the deterministic transmission of traffic. However, when time-sensitive traffic and non-time-sensitive traffic are transmitted together, traffic scheduling conflicts are easy to occur in TSN. As a result, the deterministic transmission of time-sensitive traffic will be disrupted, and non-time-sensitive traffic may be preempted for a long time. To optimize the performance of multi-type hybrid traffic scheduling in TSN, we firstly establish a collaborative scheduling framework that incorporates Time Aware Shaping (TAS) and Cyclic Queuing and Forwarding (CQF) mechanisms. We then design a traffic shaping method in this framework based on Least Laxity First (LLF), which considers traffic characteristics to dynamically arrange the time slot injection sequence for different types of traffic. Finally, the traffic schedulability is evaluated based on the scheduling constraints of different types of traffic. Compared with the existing scheduling strategies, the proposed hybrid traffic scheduling strategy can schedule more non-time-sensitive traffic and achieve better delay performance of rate-constrained traffic in different hybrid traffic scenarios. When the number of flows is 100, the time slot injection ratio is increased by 24.3% compared with the LLF_TAS method.
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