Data sensor coordination using time synchronization in a multi-bus controller area network system
First Claim
1. A method for synchronizing time in an unsynchronized vehicle controller area network system, the system having a plurality of electronic control units in communication within one another via a plurality of controller area network buses, the electronic control units are in communication with sensing devices for collecting sensed data obtained by the sensing devices, each electronic control unit transmitting messages on the plurality of controller area network buses for sharing sensed data with other electronic control units, and the plurality of electronic control units are in communication with a master control unit vehicle via the plurality of controller area network buses, the method comprising the steps of:
- the master control unit receiving a global time from a time synchronization source;
the master control unit estimating a respective time delay in transmitting messages by the electronic control units in each controller area network bus, the time delay being a difference between a time when a message is generated by a respective electronic control unit for transmission on a respective controller area network bus and a time when the message is transmitted on the respective controller area network bus;
adjusting the global time for each respective controller area network bus based on the estimated time delays associated with each respective controller area network bus; and
transmitting global time messages from the master control unit to each electronic control unit that include the adjusted global times for an associated controller area network bus, wherein each electronic control unit connected to the controller area network receiving a respective global time message synchronizes a local clock based on the adjusted global time in the respective global time message.
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Abstract
A method is provided for synchronizing time in an unsynchronized vehicle controller area network system. A master control unit receives a global time from a time synchronization source. The master control unit estimates a respective time delay in transmitting messages by electronic control units on each controller area network bus. The time delay is a difference between a time when a message is generated by a respective electronic control unit for transmission on a respective controller area network bus and a time when the message is transmitted on the respective controller area network bus. The global time is adjusted for each respective controller area network bus based on the estimated time delays associated with each respective controller area network bus. Global time messages from the master control unit are transmitted to each electronic control unit that include the adjusted global times for an associated controller area network bus.
36 Citations
20 Claims
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1. A method for synchronizing time in an unsynchronized vehicle controller area network system, the system having a plurality of electronic control units in communication within one another via a plurality of controller area network buses, the electronic control units are in communication with sensing devices for collecting sensed data obtained by the sensing devices, each electronic control unit transmitting messages on the plurality of controller area network buses for sharing sensed data with other electronic control units, and the plurality of electronic control units are in communication with a master control unit vehicle via the plurality of controller area network buses, the method comprising the steps of:
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the master control unit receiving a global time from a time synchronization source; the master control unit estimating a respective time delay in transmitting messages by the electronic control units in each controller area network bus, the time delay being a difference between a time when a message is generated by a respective electronic control unit for transmission on a respective controller area network bus and a time when the message is transmitted on the respective controller area network bus; adjusting the global time for each respective controller area network bus based on the estimated time delays associated with each respective controller area network bus; and transmitting global time messages from the master control unit to each electronic control unit that include the adjusted global times for an associated controller area network bus, wherein each electronic control unit connected to the controller area network receiving a respective global time message synchronizes a local clock based on the adjusted global time in the respective global time message. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A vehicle communication system comprising:
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a plurality of sensing devices for obtaining vehicle-related data; a plurality of electronic control units for receiving vehicle-related data from the plurality of sensing devices; a plurality of controller area network buses coupled to the plurality of electronic control units for transmitting the vehicle-related data; a master control unit in communication with each of the plurality of controller area network buses, the master control unit estimating a respective time delay for messages transmitted on each controller area network bus, the time delay being a difference between a time when messages are generated for transmitting and a time when messages are expected to be transmitted on an associated controller area network bus; a time synchronization source for generating a global time; wherein the global time is adjusted by the master control unit for each respective controller area network bus based on the respective time delay determined in each controller area network bus, wherein the master control unit transmits a respective message on each controller area network bus that includes the respective adjusted global time for each controller area network bus, and wherein each electronic control unit receiving the respective message synchronizes a local clock to the adjusted global time received in the respective message. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20)
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Specification