E384-01 - Forschungsbereich Software-intensive Systems
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Journal:
IEEE Transactions on Industrial Informatics
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ISSN:
1551-3203
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Date (published):
9-Feb-2022
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Number of Pages:
10
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Publisher:
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
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Peer reviewed:
Yes
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Keywords:
Automotive embedded system; AUTomotive Open System ARchitecture (AUTOSAR); CAN; clock synchronization; real-time system; timestamping
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Abstract:
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 μs can be achieved with a fully AUTOSAR-compliant software implementation.
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Research Areas:
Computer Engineering and Software-Intensive Systems: 70% Sensor Systems: 30%