A CAN network synchronization method identifies a sync master node from a plurality of nodes, and designates each of the remaining nodes as a sync slave node. The method further designates a message from the sync master node as a sync message, and assigns a lowest number to the message ID of the sync message. The method further assigns a unique node ID to each sync slave node, and assigns a unique message ID to a transmission duration report message from a sync slave node. The method further assigns a unique message ID to a transmission target time allocation message from the sync master node. The method also performs a handshake operation between the sync slave nodes and the sync master node to exchange message burst transmission durations (Tsst), transmission target times (TTXtarget), and a common time reference point, and conducts time adjustment on each sync slave node.