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Software-Based AUTOSAR-Compliant Precision Clock Synchronization Over CAN
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DOI：10.1109/TII.2022.3149923.png)
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Modern cars are characterized by a growing number of sensors, actuators, and advanced driver assistance systems that require a synchronized view of the time. These devices are typically interconnected by CAN, which is still the most important in-vehicle network. Precise clock synchronization over CAN is difficult due to the properties of the bus, and current approaches often use dedicated hardware or proprietary software solutions. A few years ago, however, the AUTomotive Open System ARchitecture (AUTOSAR) development alliance published a standardized synchronization method. In this article, we investigate what synchronization precision can be realistically achieved in a real-world automotive hardware and software environment. This involves pure software timestamping, standard CAN controllers without hardware modifications, and a typical automotive real-time operating system. We evaluate several approaches to reduce the synchronization jitter using filtering and optimizing the timestamping procedure. Experiments show that, ultimately, a precision better than 50 mu s can be achieved with a fully AUTOSAR-compliant software implementation.
Keyword:
Automotive embedded system
AUTomotive Open System ARchitecture (AUTOSAR)
CAN
clock synchronization
real-time system
timestamping
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9.9
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8.6K
被引数:
6.0W
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Orthogonal, fault-tolerant, and high-precision clock synchronization for the controller area network用于控制器区域网络的正交，容错和高精度时钟同步
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