The diagram is originally in Japanese, but thanks to Herms98, it has been translated into English and saved as an image for a nice infographic.
Toei Animation, the company behind animating Dragon Ball Super, has created a diagram that explains the flow between the timeline we all know and love with our heroes Goku/Vegeta as well as Future Trunks, Goku Black, and the multiple Zamasu.
Take a look below at how all of the histories have unfolded.