Method for synchronizing a transmitter-responder network

Abstract

The present invention discloses methods (140), (168) for synchronizing a transmitter-responder network, the transmitter-responder network having a transmitter node (112) and a set of responder nodes (104), (108) which are communicatively coupled by means of a CAN bus (114). One of the methods (140), (168) has a configuration step (144) in which the transmitter-responder network is configured in such a way that a response behaviour is specified to at least one responder node (104), (108) from the set of responder nodes (104), (108). Furthermore, in a transmission step (148), a trigger message (116), (128), (184), (204) is transmitted by the transmitter node (112). In a reception step (152), the trigger message (116), (128), (184), (204) is received by the at least one responder node (104), (108). In response to receiving (152) the trigger message (116), (128), (184), (204), a response (202), (216) is transmitted in a transmission step (156) by the at least one responder node (104), (108) on the basis of the response behaviour specified in the transmitter-responder network.

Description

[0001] 202403739

[0002] 1

[0003] METHOD FOR SYNCHRONIZING A TRANSMITTER-RESPONDER NETWORK

[0004] Technical field

[0005] The present invention relates to bus-based communication. In particular, the present invention relates to methods for synchronizing a transmitter-responder network. Furthermore, the present invention relates to a computer program product, a computer-readable storage medium, a data carrier signal, a transmitter-responder network, and a vehicle.

[0006] Technical background and task

[0007] Various applications, for example in the automotive sector, require the exchange of data using bus networks, i.e., arrangements for communication between, for example, microcontrollers (MCUs) and devices on board a vehicle without a host computer. The operation of a CAN bus can be based on a message-based protocol, as documented, for example, in the standards ISO 11898-1:2024 and ISO 11898-2:2024.

[0008] Examples include LIN (Local Interconnect Network), CAN FD (Controller Area Network Flexible Data-Rate), CAN FD Light (CAN FDL), and 10BASE-T1 S (an evolution of Ethernet). Bus networks, especially in the automotive sector, have high demands. These include high data rates, robustness, and safety, all while maintaining low costs. For instance, vehicles are increasingly being fitted with lights, such as front, rear, and interior lighting, using either matrix LEDs or ambient LEDs. Such sophisticated systems with distributed components require very high data rates.

[0009] CAN FDL is a simplified version of the CAN FD protocol designed for cost-sensitive applications. Unlike CAN FD, CAN FDL uses a commander / responder architecture. All participants on the bus share the same differential voltage lines: Responder nodes only respond to requests from commander nodes. This 202403739

[0010] CAN FDL is similar to LIN communication, but it uses two differential wires and can achieve higher data rates than LIN. The commander ECU requires a complete MCU and software stack. However, no MCU or software implementation is required for the responder ECUs. A single commander manages all communication, sending data to and requesting data from multiple responders. High data throughputs of 1 Mbit / s at 64 bytes per data frame are possible, with the potential for up to 8 Mbit / s. System costs can also be lower than with conventional CAN FD because an external quartz crystal per network node can be eliminated, while otherwise using standardized components. CAN FDL was originally specified in the CiA 604-1 series.However, this specification was withdrawn by CAN in Automation (CiA) to be standardized in ISO 11898-1 :2024, which defines the communication between commander and responder nodes.

[0011] However, CAN FDL has some disadvantages. For example, it does not send error frames. Error handling must be performed within the application itself, which can make implementation more complex and may require additional software. Because CAN FDL is based on the commander-responder principle, it is less flexible in terms of network architecture. It can only control a limited number of nodes, which restricts system scalability. Furthermore, CAN FDL does not use bit rate switching; instead, it operates at the same bit rate during both the arbitration and data phases, meaning the bit does not need to be read back immediately upon transmission (no arbitration). Due to the limitation to only one bit rate per frame and a maximum of 1 Mbit / s according to the standard, the net data throughput can be lower compared to CAN FD. This can negatively impact efficiency in certain applications.Furthermore, in a CAN FDL network, a request from the commander can only be answered by one responder.

[0012] Similar disadvantages are also present in comparable network architectures such as LIN and 10BASE-T1S. 202403739

[0013] 3

[0014] It is therefore an object of the present invention to provide methods for synchronizing a transmitter-responder network that overcome at least one of the aforementioned disadvantages. Furthermore, it is an object of the invention to provide a computer program product, a computer-readable storage medium, a data carrier signal, a transmitter-responder network, and a vehicle.

[0015] Disclosure of the invention

[0016] The problem is solved according to the invention by the features of the main claims. Advantageous embodiments can be found in the dependent claims.

[0017] According to a first aspect of the invention, a method for synchronizing a sender-responder network includes a configuration step in which the sender-responder network, which comprises a sender node and a set of responder nodes, is configured such that at least one responder node from the set of responder nodes is assigned a response behavior. The sender node and the responder nodes are communicatively coupled via a CAN bus.

[0018] A sender-responder network is a communication model that describes the interaction between two nodes in a network. It consists of two main components: the sender node, which initiates communication and sends requests or data, and the responder node, which receives these requests and responds. The nodes of the network are connected to each other via a physical connection in the form of a CAN bus, allowing messages to be exchanged between the nodes. Examples of sender nodes include central control units in a vehicle, the main control unit of a battery management system, a central lighting control unit, or a central control unit of a driver assistance system. Correspondingly, examples of responder nodes include individual LED headlight modules, individual battery cells, or cell groups.

[0019] 4

[0020] LED units and integrated sensors in the vehicle and various sensors (for example, cameras, radar, lidar) and actuators.

[0021] The dynamic interaction between nodes is made possible by logical communication between the participants, even when they are physically far apart. Sender-responder networks are used in various contexts, including internet communication, such as client-server interactions; network security, particularly for authentication and data encryption; and wireless networks, for example, in WLAN configurations and management. Cryptographic methods are often employed to ensure the confidentiality and integrity of the transmitted data. Overall, sender-responder networks form the basis of many modern communication systems and play a crucial role in network technology and cybersecurity.

[0022] A set is a collection of clearly distinguishable objects, in this case individual sender nodes or responder nodes, which are also referred to as elements of the set. A set can be empty, contain one element, or contain multiple elements.

[0023] The roles of the sender node and one of the responder nodes can also be reversed. In other words, a former responder node can become a sender node, and vice versa.

[0024] The response behavior defines how a responder node should react to a message from the sender node. According to the first aspect, the entire sender-responder network, or rather its nodes, is configured with the typically predefined response behavior. This means that all nodes in the sender-responder network know how to react to a message from the sender node. The response behavior does not have to be the same for all nodes, but can depend on the responder node, the sender node, or the combination of sender and responder nodes. 202403739

[0025] 5

[0026] In a further step of the process, as described in the first aspect, a trigger message is sent by the sender node. The sender node transmits data or requests over the network to at least one responder node. The trigger message is not specifically sent to the at least one responder node, but is typically received by all responder nodes. The trigger message is usually composed of several data fields, as is common in CAN. These include, for example, a start bit, an arbitration field, a control field, a data field, a CRC field for error detection, an ACK field for acknowledgment, and an end field. There is no direct receiver addressing as in other network protocols. Instead, a content-based approach is used, in which each receiver (responder node) is determined based on the message content, in particular an identifier in the arbitration field.Every CAN message is therefore a so-called broadcast message, which can be received by all nodes. Multiple receivers can respond to the same message simultaneously, a process known as multicasting.

[0027] In a further step of the process according to the first aspect, the trigger message is received by at least one responder node. Each responder node in the sender-responder network typically receives the trigger message and then decides for itself whether it is addressed to it and therefore whether a response should be sent, or not.

[0028] In a further step of the procedure according to the first aspect, in response to the receipt of the trigger message, a reply is sent by at least one responder node depending on the response behavior specified in the sender-responder network.

[0029] For example, the response behavior can specify how many successive response messages should be sent by at least one responder node. In the protocols commonly used so far, a trigger message is answered with a response message. However, the response behavior can be, for example, 202403739

[0030] 6. Provide more than one response message or specify a sequence of response messages from different responder nodes. This means that after the responder node that was actually addressed, another responder node can send a response message, even if it was not explicitly addressed with the trigger message.

[0031] The advantage of the method described in the first aspect is a more flexible temporal synchronization of the message flow compared to currently available standards. Furthermore, the method does not alter the processes at the controller level. The management of the bus system can be carried out across various OSI layers, particularly at higher software levels.

[0032] In an advantageous embodiment, the configuration of the sender-responder network is carried out via the sender node.

[0033] In an advantageous implementation, the sender node performs a reconfiguration of the sender-responder network, specifying a new response behavior that includes an idle time for at least one responder node. This response behavior defines a cycle of sender responses, which can be redefined once it has ended. This further increases the flexibility of the message flow within the network. To prevent message flow collisions, the receiver nodes maintain an idle time during which only the sender node is permitted to send trigger messages.

[0034] According to a second aspect of the invention, a method for synchronizing a sender-responder network includes a step for configuring a trigger message by a sender node. The sender-responder network comprises the sender node and a set of responder nodes, which are communicatively coupled via a CAN bus. The trigger message includes at least one configuration data field that configures a response behavior. 202403739

[0035] 7

[0036] In a further step of the procedure according to the second aspect, the trigger message is received by at least one responder node from the set of responder nodes.

[0037] In a further step of the procedure according to the second aspect, in response to receiving the trigger message, a reply is sent by at least one responder node depending on the response behavior configured in the configuration data field.

[0038] In contrast to the method described in the first aspect, the entire network is not preconfigured; instead, trigger messages are used to control the response behavior and thus the message flow. The advantages of the method described in the first aspect also apply to the method described in the second aspect.

[0039] In an advantageous embodiment, the response behavior defines a number of reply messages as a reply, wherein, when sending the reply, the number of reply messages is determined immediately one after the other by at least one

[0040] The response is sent to the responder node. In other words, the response consists of multiple response messages so that the responder node does not have to reply to the trigger message with just a single response message.

[0041] In an advantageous configuration, the response behavior defines at least one idle time. The idle time can serve several purposes, such as collision avoidance. It creates a time buffer between transmissions to prevent signals from different nodes from overlapping and interfering with each other. Furthermore, it can contribute to resource conservation, as nodes can save energy and cool their components during the idle time, which is particularly important in battery-powered environments. Additionally, the pause provided by the idle time allows receivers to process incoming data and prepare for the next transmission. Network stability can also be increased.

[0042] 8 because distributing data traffic prevents overload and improves overall stability.

[0043] In an advantageous implementation, the response behavior dictates the order in which responder nodes respond from within the set of responder nodes. In other words, a message cycle is defined in which each participant is informed when it is allowed to send and when it is not. This also offers particular advantages, especially regarding network stability. Furthermore, fewer trigger messages need to be sent, which increases the network's net data transmission rate. For example, responder nodes can be informed of which responder node they are allowed to send their response after. For this to work, only the first receiving responder node needs to be informed of its special role and, if necessary, allow for a certain amount of downtime. The response behavior thus establishes conditions that dictate to the responder node when it can reply.

[0044] In an advantageous implementation, the response behavior specifies times at which responder nodes from the set of responder nodes will reply. Instead of informing the responder nodes which responder node they may follow, a schedule is sent with the trigger message, or the network is preconfigured accordingly. The schedule then specifies when each responder node is allowed to send. Here, too, a buffer time should be included if a response message takes longer than planned, for example, due to a reduced response time of the affected responder node caused by high temperatures.

[0045] According to a third aspect of the invention, a computer program product, a computer-readable storage medium, and / or a data carrier signal comprises instructions which, when executed by a computer, cause the computer to execute a method as described above. 202403739

[0046] 9

[0047] The computer program product can be written in a programming language, for example Python or C++.

[0048] The computer-readable storage medium can be, for example, a solid-state drive (SSD) or flash memory. The computer-readable storage medium can also store other data, such as sensor data and / or data that is (temporarily) stored during the execution of the process.

[0049] The data carrier signal can be transmitted wirelessly, for example via Wi-Fi, Bluetooth, mobile networks, or similar technologies. It can also be transmitted via wired connections, such as CAN (Controller Area Network), FlexRay, Ethernet, LIN (Local Interconnect Network), or MOST (Media Oriented Systems Transport).

[0050] According to a fourth aspect of the invention, a transmitter-responder network comprises a transmitter node and a set of responder nodes, which are communicatively coupled via a CAN bus. A synchronization method as previously described is used in the transmitter-responder network.

[0051] In an advantageous embodiment, the synchronization method is implemented at least partially by one or more logic gates. Logic gates implement logical operators, such as conjunction (AND gate), disjunction (OR gate), contravalence (EXCLUSIVE OR gate), or negation (NOT gate). For example, hardware firewalls can filter incoming and outgoing messages from a combination of logic gates based on predefined rules, or logic gate components can extract the received clock rate and pass it on to a system clock. In this embodiment, synchronization is performed at least partially by a hardware implementation.

[0052] In an advantageous embodiment, the synchronization method is at least partially performed by the computer program product 202403739 described above.

[0053] 10. In this configuration, synchronization is therefore at least partially carried out by a software implementation.

[0054] According to a fourth aspect of the invention, a vehicle has a transmitter-responder network as described above. A vehicle can be, for example, a motor vehicle, a truck, a train, a ship, an aircraft, or the like. Generally, a vehicle is understood to be a mobile means of transport. Furthermore, the invention can generally be used in any bus with bus access via the transmitter-responder or master-slave concept.

[0055] In an advantageous embodiment, at least one of the responder nodes in the vehicle is a sensor or an actuator. For example, the responder node could be a pressure sensor or a spindle drive.

[0056] Summary of the characters

[0057] The invention is explained in more detail below using exemplary embodiments and the accompanying figures. The figures show:

[0058] Figure 1: A vehicle with a CAN bus;

[0059] Figure 2: A signal flow diagram of the current message flow in CAN FD Light, LIN or 10BASE-T1 S;

[0060] Figure 3: A flowchart of a first embodiment of a method for synchronizing a sender-responder network by means of network configuration;

[0061] Figure 4: A flowchart of a second embodiment of a method for synchronizing a sender-responder network by means of network configuration; 202403739

[0062] 11

[0063] Figure 5: A flowchart of an exemplary implementation of a method for synchronizing a sender-responder network using trigger message configuration;

[0064] Figure 6: A signal flow diagram of a first embodiment of a message flow;

[0065] Figure 7: A signal flow diagram of a second embodiment of a message flow;

[0066] Figure 8: A signal flow diagram of a third embodiment of a message flow; and

[0067] Figure 9: A signal flow diagram of a fourth embodiment of a message flow.

[0068] Detailed description of the figures

[0069] Figure 1 shows a vehicle 100 with a CAN bus 114. Various network nodes 104, 108, 112 are connected to a network via the CAN bus 114. One of the network nodes 104, 108, 112, in the form of a central computer 112 (also called HPC), serves as a transmit node 112 in the network. It sends trigger messages 116, 128, 184, 204 into the network. Certain network nodes 104, 108, 112 are responder nodes 104, 108, which receive the trigger messages 116, 128, 184, 204 and determine whether they should respond. Responder nodes 104, 108 can be, for example, sensors, actuators, or ECUs. In the example shown in Figure 1, a zone control unit 108 is also configured as a responder node 104, 108. The network is therefore an implementation of a sender-responder network in which the present invention is applied.

[0070] An example of an application area of ​​the present invention is the raising of a window regulator by means of a motor. Here, a current must be measured with short periodicity. A current increase can indicate, 202403739

[0071] 12. that something is jammed or the window is almost closed. In the first case, the motor must be stopped immediately and ideally reversed slightly. It must be ensured that the anti-pinch protection is maintained even in the event of a loss of communication, for example due to a broken cable or a short circuit. This requires corresponding failsafe functions in responder nodes 104 and 108.

[0072] Figure 2 shows a signal flow diagram of the current message flow in CAN FD Light, LIN, or 10BASE-T1 S. A first trigger message 116 is sent by the transmitter node 12. This is received by the responder nodes 104 and 108. The responder node 104 or 108 for which the trigger message 116 was intended determines this and sends a first reply message 120. This represents a cycle in which exactly one reply message (120, 132, 188, 192, 196, 200, 208, 212) is sent to each trigger message 116.

[0073] After an (optional) initial idle time of 124, the cycle starts again from the beginning with a second trigger message 128, followed by a second response message 132 and, if necessary, another idle time of 124. Figure 2 illustrates the state of the art.

[0074] Figure 3 shows a flowchart of a first embodiment of a method 140 for synchronizing a sender-responder network by means of network configuration.

[0075] In a first configuration step 144, the sender-responder network is configured such that at least one responder node 104,108 from the set of responder nodes 104,108 is given a defined response behavior. This response behavior can specify how frequently the at least one responder node 104,108 is allowed to respond to a trigger message 116,128,184,204. The first configuration step 144 can, for example, be performed by sender node 12. 202403739

[0076] 13

[0077] In the first transmission step 148, a trigger message 116, 128, 184, 204 is sent by the transmitter node 112. The trigger message 116, 128, 184, 204 can, for example, request measurement data from a sensor in order to make a decision based on that data. For instance, if a current sensor on a window regulator detects a certain level of current increase, the motor for opening / closing the window must be stopped. The instruction to stop the motor can also be transmitted via a trigger message 116, 128, 184, 204. The first transmission step 148 is typically executed continuously (symbolized by the circular arrow), but not necessarily periodically.

[0078] In a first reception step 152, the trigger message 116,128,184,204 is received by at least one responder node 104,108. Based on the trigger message 116,128,184,204, responder nodes 104,108 can decide whether they were addressed or not. The addressed responder node 104,108 can also prepare a response 202,216 corresponding to the trigger message 116,128,184,204.

[0079] In a second transmission step 156, at least one responder node 104,108 sends a response 202,216, depending on the response behavior specified in the sender-responder network and in reaction to receiving 152 the trigger message 116,128,184,204. The response 202,216 does not necessarily have to be a single response message 120,132,188,192,196,200,208,212. Alternative response behaviors are discussed in Figures 6 to 9.

[0080] Figure 4 shows a flowchart of a second embodiment of a method 140 for synchronizing a sender-responder network by means of network configuration.

[0081] Essentially, the steps of procedure 140 in Figure 4 are identical to those in Figure 3. However, after the second transmission step 156, a test step 160 checks whether a condition is met that indicates whether the network is still optimally configured or not. If the network is still optimally configured 202403739

[0082] 14 and the condition is therefore not met (f-branch at test step 160), the procedure 140 can be terminated as shown in Figure 3.

[0083] However, if the condition is no longer met and the network is no longer optimally configured, the network is reconfigured in a reconfiguration step 164. This allows for changes in network usage, for example, if a network node (104, 108, 112) has failed or is responding with a delay due to overload.

[0084] Figure 5 shows a flowchart of an embodiment of a method 168 for synchronizing a sender-responder network by means of trigger message configuration.

[0085] Unlike in Figures 3 and 4, instead of the network, a trigger message 116,128,184,204 is used to specify a response behavior to the responder node 104,108.

[0086] In a second configuration step 172, a trigger message 116,128,184,204 is configured by the sender node 112, wherein the trigger message 116,128,184,204 has at least one configuration data field which configures a response behavior.

[0087] The trigger message 116,128,184,204 is received in a second reception step 176 by at least one responder node 104,108.

[0088] Subsequently, at least one responder node 104,108 sends a response 202,216 in a third transmission step 180, depending on the response behavior configured in the configuration data field.

[0089] Figure 6 shows a signal flow diagram of a first embodiment of a message flow. 202403739

[0090] 15

[0091] In the example shown in Figure 6, a third trigger message 184 is sent, specifying that a first response 202 should be followed by a successive sending of a first response message 188, a second response message 192, a third response message 196, and a fourth response message 200. The third trigger message 184 is addressed to a specific responder node 104, 108 and applies only to that node.

[0092] A waiting period of 124 hours is then scheduled to account for any potential delays.

[0093] After the idle time of 124 has elapsed, a fourth trigger message 204 is sent. This message is addressed to different responder nodes 104 and 108 than the third trigger message 184 and specifies a different response behavior. Here, a seventh response message 208 and an eighth response message 212 are expected as the second response 216.

[0094] Figure 7 shows a signal flow diagram of a second embodiment of a message flow.

[0095] In the example shown in Figure 7, the third trigger message 184 is followed by a third response message 188 from a first responder node 104,108. This is followed by a fourth response message 192 from a second responder node 104,108. Next comes a fifth response message 196 from a third responder node 104,108, and finally a sixth response message 200 from a fourth responder node 104,108. Thus, a sequence has been established in which the individual responder nodes 104,108 of the network should respond.

[0096] This response behavior can be most easily defined through network configuration. It is possible to continuously send response messages 188, 192, 196, 200 (symbolized by the connection between the sixth response message, 200, and the third response message, 188), for example, to continuously monitor a system status. 202403739

[0097] 16

[0098] Figure 8 shows a signal flow diagram of a third embodiment of a message flow. The example in Figure 8 essentially follows that of Figure 7. However, after the sixth response message 200, a new trigger message 184 is sent. This allows the network to be reconfigured to redefine its response behavior. In this way, the network can respond to changing requirements.

[0099] Figure 9 shows a signal flow diagram of a fourth embodiment of a message flow.

[0100] The example in Figure 9 essentially follows that of Figure 7. However, the third trigger message 184 starts a timer 220. If no new third trigger frame 184 has been sent after a waiting period defined in the timer 220, a new cycle is started by the fourth responder node.

[0101] 202403739

[0102] Reference symbol list

[0103] 100 vehicles

[0104] 104 network nodes, responder nodes

[0105] 108 network nodes, zone control unit; responder nodes

[0106] 112 network nodes, central computer; transmitting nodes

[0107] 114 CAN bus

[0108] 116 First trigger message

[0109] 120 First reply message

[0110] 124 Idle time

[0111] 128 Second trigger message

[0112] 132 Second reply message

[0113] 140 methods using network configuration

[0114] 144 First configuration step

[0115] 148 First transmission step

[0116] 152 First reception step

[0117] 156 Second transmission step

[0118] 160 test step

[0119] 164 Reconfiguration step

[0120] 168 methods using trigger message configuration

[0121] 172 Second configuration step

[0122] 176 Second reception step

[0123] 180 Third transmission step

[0124] 184 Third trigger message

[0125] 188 Third reply message

[0126] 192 Fourth reply message

[0127] 196 Fifth reply message

[0128] 200 Sixth reply message

[0129] 202 First answer

[0130] 204 Fourth trigger message

[0131] 208 Seventh reply message

[0132] 212 Eighth reply message

[0133] 216 Second answer

[0134] 220 timers

Claims

202403739 18 Patent claims 1. Method (140) for synchronizing a sender-responder network, the sender-responder network comprising a sender node (112) and a set of responder nodes (104, 108) which are communicatively coupled via a CAN bus (114), wherein the method (140) comprises at least the following steps: - Configuration (144) of the sender-responder network such that at least one responder node (104) from the set of responder nodes (104,108) is given a response behavior, - Sending (148) a trigger message (116,128,184,204) by the sender node (112), - Receiving (152) the trigger message (116,128,184,204) by at least one responder node (104,108), and - Sending (156), in response to the receipt (152) of the trigger message (116,128,184,204), a response (202,216) by at least one responder node (104,108) depending on the response behavior specified in the sender-responder network.

2. Method according to claim 1, characterized in that the configuration (144) of the sender-responder network is carried out via the sender node (112) from the set of responder nodes (104,108).

3. Method according to claim 2, characterized in that the sender node (112) performs a reconfiguration (164) of the sender-responder network in which a new response behavior is specified which provides an idle time (124) for the at least one responder node (104,108).

4. Method (168) for synchronizing a transmitter-responder network, the transmitter-responder network comprising a transmitter node (112) and a 202403739 19 Set of responder nodes (104,108) which are communicatively coupled via a CAN bus (114), wherein the method (168) comprises at least the following steps: - Configuring (172) a trigger message (116,128,184,204) by the sender node (112), the trigger message (116,128,184,204) having at least one configuration data field which configures a response behavior, - Receiving (176) the trigger message (116,128,184,204) by at least one responder node (104,108) from the set of responder nodes (104,108), and - Sending (180), in response to receiving (152) the trigger message (116,128,184,204), a response (202,216) by at least one responder node (104,108) depending on the response behavior configured in the configuration data field.

5. Method according to one of the preceding claims, characterized in that the response behavior defines a number of response messages (120, 132, 188, 192, 196, 200, 208, 212) as a response (202, 216), wherein when sending (180) the response (202, 216) the number of response messages (120, 132, 188, 192, 196, 200, 208, 212) are sent immediately one after the other by the at least one responder node (104, 108).

6. Method according to one of the preceding claims, characterized in that the response behavior defines at least one idle time (124).

7. Method according to one of the preceding claims, characterized in that the response behavior specifies an order in which the responder nodes (104, 108) are selected from the set of responder nodes. 202403739 20 (104,108) answer.

8. Method according to one of the preceding claims, characterized in that the response behavior specifies times at which the responder nodes (104,108) from the set of responder nodes (104,108) respond.

9. Computer program product, computer-readable storage medium and / or data carrier signal, comprising instructions which, when executed by a computer, cause it to execute a method (140, 168) according to any of the preceding claims.

10. Sender-responder network comprising a sender node (112) and a set of responder nodes (104, 108) which are communicatively coupled by means of a CAN bus (114), characterized in that a method (140, 168) according to one of claims 1 to 8 is used for synchronization in the sender-responder network.

11. Sender-responder network according to claim 10, characterized in that the method (140, 168) for synchronization according to one of claims 1 to 8 is at least partially implemented by one or more logic gates.

12. Sender-responder network according to claim 10, characterized in that the method (140, 168) for synchronization according to one of claims 1 to 8 is at least partially implemented by the computer program product according to claim 9.

13. Vehicle (100) comprising a transmitter-responder network according to any one of claims 10 to 12. 202403739 21 14. Vehicle according to claim 13, characterized in that at least one of the responder nodes (104, 108) is a sensor or an actuator.

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