Method for synchronizing clocks in nodes of a vehicle network and node designed to perform the method
View Patent ↗A method for synchronizing clocks in nodes of a vehicle network of a motor vehicle corrects a time difference between a master clock and a slave clock, taking into account transmission delay for a message between a master node and a slave node. At least for a first synchronization of the master clock to a slave clock after the nodes of the vehicle network are started up, a default transmission delay in the slave node is used to correct the time difference, and/or the slave node sending out a Delay Request message, and recording in the master node the time at which Delay Request message is received and the master node sending the time, as a Delay Response message, back to the slave node. In the slave node, the transmission delay for a message between the master node and the slave node is determined.
1. A method for synchronizing clocks ( 1 , 2 ) in nodes of a vehicle network of a motor vehicle, in which the nodes communicate with one another by a communications protocol which is not synchronized per se, the method comprising:
a master node having a master clock ( 1 ) sending out synchronization messages;
a slave node having a slave clock ( 2 ) evaluating the synchronization messages;
adapting a timing signal of the slave clock ( 2 ) to a timing signal of the master clock ( 1 );
correcting a time difference between the master clock ( 1 ) and the slave clock ( 2 ), taking into account transmission delay for a message between the master node and the slave node;
at least for a first synchronization of the master clock ( 1 ) to a slave clock ( 2 ) after the nodes of the vehicle network are started up, using a default transmission delay in the slave node to correct the time difference between the master node and the slave node, and/or the slave node sending out a Delay Request message ( 8 ), and recording in the master node the time (t 4 ) at which Delay Request message ( 8 ) is received and the master node sending the time (t 4 ), as a Delay Response message ( 9 ), back to the slave node; and
determining, in the slave node, the transmission delay for a message between the master node and the slave node,
wherein the frequency of sending the Delay Request messages ( 8 ) equals the frequency of sending the synchronization messages ( 4 ), at least for a defined time period after the nodes of the vehicle are started up.
2. The method as claimed in claim 1 , wherein the default transmission delay has been measured during a past operation and has been stored in the slave node.
3. The method as claimed in claim 1 , further comprising determining the default transmission delay from a given vehicle configuration.
4. The method as claimed in in claim 1 , wherein the Delay Request message ( 8 ) is sent out immediately after receipt of the synchronization message ( 4 ).
5. The method as claimed in in claim 1 , further comprising reducing the frequency of sending the Delay Request messages ( 8 ) after the defined time period and/or after the slave clock ( 2 ) has been synchronized to the master clock ( 1 ).
6. The method as claimed in in claim 1 , further comprising presetting the master clock ( 1 ) in the nodes after the nodes of the vehicle are started up, during synchronization of the clocks ( 1 , 2 ).
7. The method as claimed in in claim 1 , further comprising, after the nodes of the vehicle are started up, during synchronization of the clocks ( 1 , 2 ) in the nodes, each node sending out an Announce message ( 12 ) containing information about its clock, and receiving and evaluating the Announce messages ( 12 ) from other nodes to determine the best quality clock ( 1 , 2 ) and to define said clock to be the master clock ( 1 ), wherein the frequency of sending the Announce messages ( 12 ) equals the frequency of sending the synchronization messages ( 4 ) at least for a defined time period after the nodes of the vehicle are started up.
8. The method as claimed in claim 7 , wherein each slave node sends out the Announce message ( 12 ) immediately after sending out a Delay Request message ( 8 ), and the master node sends out the Announce message ( 12 ) immediately after sending out a synchronization message ( 4 ).
9. The method as claimed in claim 8 , further comprising reducing the frequency of sending the Announce messages ( 12 ) after the defined time period and/or after the master clock has been defined.
10. A node in a vehicle network of a motor vehicle having a microprocessor configured to implement a communications protocol such that the node can take part in communication between different nodes in the motor vehicle, wherein the microprocessor is configured to perform the method for synchronizing clocks ( 1 , 2 ) as claimed in claim 1 .
11. A computer-readable medium storing program code, which, when executed by a microprocessor of a node of a vehicle network, is configured to execute the method for synchronizing clocks ( 1 , 2 ) as claimed in claim 1 in a vehicle network in which the node is integrated.