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F. Luckinger, T. Sauter:
"AUTOSAR-compliant Clock Synchronization over CAN using Software Timestamping";
Talk: 17th IEEE International Conference on Factory Communication Systems (WFCS), Linz; 2021-06-09 - 2021-06-11; in: "2021 17th IEEE International Conference on Factory Communication Systems (WFCS)", IEEE, (2021), ISBN: 978-1-6654-2478-3; 1 - 4.

Despite its age and even though Ethernet is becoming popular, CAN is still widely used in distributed automotive systems. In such applications, a network-wide notion of time is often a prerequisite. However, precision clock synchronization over CAN is difficult to attain, and current approaches use dedicated hardware or proprietary software solutions. On the other hand, there is a standardized synchronization method which was defined by the AUTOSAR development alliance. This paper investigates the achievable precision using a purely software-based implementation of the AUTOSAR method using standard CAN controllers in a typical automotive real-time operating system. Preliminary results show that a precision of around 400 microseconds can be achieved with a fully AUTOSAR-compliant software implementation, and that there are options for further improvement.

Uncertainty, Filtering, Software, Hardware, Real-time systems, Synchronization, Vehicle dynamics, automotive electronics, automotive engineering, clocks, local area networks, operating systems

http://dx.doi.org/10.1109/WFCS46889.2021.9483588

https://publik.tuwien.ac.at/files/publik_302578.pdf