Time synchronization method between CAN-FD nodes

Recently, advanced driver assistance systems (ADAS) have gained prominence in the vehicle industry, with respect to the importance of the stability and reliability of vehicular control technology or communication technology. In such situations, when data is transmitted, communication delays between different networks occur inevitably, and if the electronic control units (ECU) of each sensor are not time-synchronized, they result in control process issues of the ADAS. In this paper, we propose a time synchronization method of each node of the CAN-FD network by applying the end-to-end (E2E) mechanism of applying the precision time protocol (PTP).