Predictable Timestamping for the Controller Area Network: Evaluation and Effect on Clock Synchronization Accuracy

Akpınar M., SCHMİDT K. V.

IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol.54, no.3, pp.1926-1935, 2024 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 54 Issue: 3
  • Publication Date: 2024
  • Doi Number: 10.1109/tsmc.2023.3332559
  • Journal Name: IEEE Transactions on Systems, Man, and Cybernetics: Systems
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Academic Search Premier, PASCAL, Aerospace Database, Applied Science & Technology Source, Business Source Elite, Business Source Premier, Communication Abstracts, Compendex, Computer & Applied Sciences, INSPEC, Metadex, Civil Engineering Abstracts
  • Page Numbers: pp.1926-1935
  • Keywords: Clock synchronization (CS), controller area network (CAN), hardware experiments, timestamping (TS)
  • Middle East Technical University Affiliated: Yes

Abstract

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.