Method and system for performing time-synchronization
A method performs time-synchronization between a master clock and a plurality of slave clocks. The method performs a forward time-synchronization from the master clock to the plurality of slave clocks. Further, the method performs a reverse time-synchronization from the plurality of slave clocks to a corresponding plurality of validator clocks. In addition, the method validates the time-synchronization between the plurality of slave clocks, notably between the master clock and the plurality of slave clocks, based on the plurality of validator clocks.
1. A method for performing time-synchronization between a master clock and a plurality of slave clocks, the method comprising:
performing a forward time-synchronization to time-synchronize respective slave clock times of the plurality of slave clocks to a master clock time of the master clock;
performing a reverse time-synchronization to time-synchronize, for each of a plurality of validator clocks, a validator clock time to the slave clock time of a corresponding slave clock of the plurality of slave clocks; and
validating a time-synchronization between the plurality of slave clocks by comparing the validator times of the plurality of validator clocks.
2. The method according to claim 1 , wherein forward time-synchronization is performed using precision-time-protocol, and/or reverse time-synchronization is performed using precision-time-protocol.
3. The method according to claim 1 , wherein
forward time-synchronization and/or reverse time-synchronization are performed over an Ethernet communication network, and
forward time-synchronization and reverse time-synchronization make use of different EtherTypes.
4. The method according to claim 1 , wherein a message used for reverse time-synchronization has a higher priority with regard to processing and/or transmission than a message used for forward time-synchronization.
5. The method according to claim 1 , wherein
forward time-synchronization and/or reverse time-synchronization are performed over a communication network, and
a validator comprising the plurality of validator clocks has a higher integrity level than at least one or more components of the communication network.
6. The method according to claim 5 , wherein the higher integrity level is a higher automotive-safety-integrity-level.
7. The method according claim 1 , wherein the plurality of validator clocks are implemented in a corresponding plurality of different time domains of a Synchronized Time-Base Manager of an automotive-open-system-architecture standard.
8. The method according to claim 1 , wherein validating the time-synchronization between the plurality of slave clocks comprises:
comparing the validator times of the plurality of validator clocks;
determining that the plurality of slave clocks are time-synchronized when the validator times of the plurality of validator clocks are operatively equal; and/or
determining that the plurality of slave clocks are not time-synchronized when the validator times of at least two of the plurality of validator clocks are not operatively equal.
9. The method according to claim 1 , wherein
the plurality of slave clocks are associated with a plurality of sensors, and
each of the plurality of sensors is configured to provide sensor data with a time stamp generated by the associated slave clock.
10. The method according to claim 9 , further comprising:
performing a forward time-synchronization to time-synchronize a fusion time of a fusion clock to the master time of the master clock, wherein the fusion clock is part of a fusion unit configured to perform sensor fusion of the sensor data provided by the plurality of sensors, and wherein the forward time-synchronization of the slave clocks is performed via the fusion unit; and
performing a reverse time-synchronization to time-synchronize the validator time of a corresponding validator clock to the fusion time of the fusion clock.