Message delay analysis for CAN based networks
Zhengou Wang, Huizhu Lu, G. E. Hedrick, M. L. Stone · 1992
Controller Area Network (CAN) defines a medium aeeess control protocol developed by Intel Corp. and Robert Bosch Gmbh.for use in automobiles rhai88].In this paper, the authors further provide an analytical model for CAN.With this model, formulae for computing the maximum delay and the expeeted delay of each type of message are derived.These formulae can be used to evaluate delays of different priority messages.The analytical formulae also reveal the relationship among message delays, message priorities and offered loads of the system.This information is useful to network designers for choosing optimum design parameters, such as bandwidth, and can be used to determine message priorities.Both our analytical and simulation results show that CAN is an efficient medium access control protocol and it provides high channel utilization and short message delay for high priority messages.