Fuente: Wipo "Sensorization" A sensor synchronization system for an autonomous vehicle is described. Upon initializing a master clock on a master processing node for a sensor apparatus of the autonomous vehicle, the system determines whether an external timing signal is available. If the signal is available, the system synchronizes the master clock with the external timing signal. Based on a clock cycle of the master clock, the system propagates timestamp messages to the sensors of the sensor apparatus, receives sensor data, and formats the sensor data based on the timestamp messages.