Predictable Timestamping for the Controller Area Network: Evaluation and Effect on Clock Synchronization Accuracy
提出一种新的可预测时间戳方法，减少CAN总线中比特时序、振荡器漂移和电缆长度引起的不确定性，实验验证其提升时间戳质量，并将时钟同步精度降至100纳秒以下。
Accurate timestamps are important for clock synchronization (CS) and cyber-security on the controller area network (CAN). This article proposes a new predictable timestamping (TS) method on CAN. Different from existing TS methods, our method reduces the effect of uncertainties that are caused by the CAN bit timing, oscillator drifts, and different cable lengths. Accordingly, our TS method provides an improved TS quality, which is confirmed in comprehensive hardware experiments. We further show the positive impact of our TS method on CS for CAN with clock accuracies below 100 ns.