Evaluation of Clock Synchronization Algorithms for Controller Area Network

The subject of this paper is practicability of clock synchronization (CS) algorithms for the Controller Area Network (CAN). This topic is currently of high relevance since safetycritical in-vehicle applications require an accurate global time in order to coordinate their actions. The paper first outlines the existing software-based CS algorithms and then compares their performance based on comprehensive experiments. It is shown that the recently proposed Improved Software-based Clock Synchronization (ISCS) algorithm outperforms existing algorithms.