Time-sensitive networking (TSN) is a kind of network communication technology applied in fields such as industrial internet and intelligent transportation, capable of meeting the application requirements for precise time synchronization and low-latency deterministic forwarding. In TSN, cyclic queuing and forwarding (CQF) is a traffic shaping mechanism that has been extensively discussed in the recent literature, which allows the delay of time-triggered (TT) flow to be definite and easily calculable. In this paper, two algorithms are designed to tackle the start time planning issue with the CQF mechanism, namely the flow–path–offset joint scheduling (FPOJS) algorithm and congestion-aware scheduling algorithm, to improve the scheduling success ratio of TT flows. The FPOJS algorithm, which adopts a novel scheduling object—a combination of flow, path, and offset—implements scheduling in descending order of a well-designed priority that considers the resource capacity and resource requirements of ports. The congestion-aware scheduling algorithm identifies and optimizes congested ports during scheduling and substantially improves the scheduling success ratio by dynamically configuring port resources. The experimental results demonstrate that the FPOJS algorithm achieves a 39% improvement in the scheduling success ratio over the naive algorithm, 13% over the Tabu-ITP algorithm, and 10% over the MSS algorithm. Moreover, the algorithm exhibits a higher scheduling success ratio under large-scale TSN.