Abstract: With the growing demand for the functions such as advanced driving assistance systems (ADAS) in automotive electronics, traditional Ethernet can no longer satisfy the functional requirements on audio/video synchronization, intelligent connected vehicles, and data fusion, due to its inherent uncertainties such as latency. The time-sensitive network (TSN) technology will effectively address these bottlenecks, enrich in-vehicle functions, and enhance the reliability of transmission through Ethernet. Drawing from practical project experience, this article elaborates the architectural design of a vehicle-wide TSN time synchronization framework based on the generalized precision time protocol (gPTP). By means of the implementation of gPTP, the issue of spatiotemporal misalignment from the point cloud data fusion of automotive lidar can be effectively resolved. The issue also provides example test cases and solutions to optimizing gPTP processing logic, thereby improving the accuracy of data fusion results and the reliability of functions such as assisted driving.

Key words: time-sensitive network; time synchronization system; gPTP; advanced driving assistance systems

摘要： 随着高级驾驶辅助系统（ADAS）等功能在汽车电子领域的需求逐日增加，传统以太网 由于其延时等不确定因素，已无法满足音视频同步、智能网联、数据融合等功能要求。时间 敏感网络（TSN）技术的引入，可以很好地突破瓶颈，丰富车载功能，增加以太网传输可靠 性。文章将结合实际项目经验，阐述基于通用精确时间协议（gPTP）的整车 TSN 时间同步架 构设计方案。通过 gPTP 的应用，有效解决车载激光雷达点云数据融合时空错位问题。同时举 例测试案例及解决方案，优化 gPTP 处理逻辑，提高数据融合结果准确性和辅助驾驶等功能的 可靠性。

关键词: 时间敏感网络；时间同步系统；gPTP；高级驾驶辅助系统