At the same time, deadline field is introduced into periodic data frames to differentiate their emergency degree, and non-preemptive EDF scheduling method is applied to improve the end-to-end delay of periodic data field.

• 同时还在周期性数据帧中引入截止期限字段来区分其不同的紧急程度，并对其采用非中断的EDF调度方法来改善周期性数据帧的端到端延迟。