Worst Case Response Time Analysis for Messages in Gateway-Interconnected Controller Area Network
Yong Cheng Xie, Gang Zeng, Chen Yang, Ryo Kurachi, Hiroaki Takada, Renfa Li · 2012
Controller Area Network (CAN) is widely used inside the automobiles. To decrease design complexity and cost, gateway is employed to realize the communication between different CAN buses. But its employment brings great challenges for worst-case response time (WCRT) analysis of CAN messages. We first analyzed the key challenges for WCRT analysis of messages. And then, based on existing method proposed for one single CAN, a new WCRT analysis method that considers the timing distance relations among messages is proposed for non-gateway messages. Furthermore, a division-based method that transforms the end to end WCRT analysis of gateway messages into the similar case with WCRT analysis of non-gateway messages is proposed for gateway messages. The correctness of the proposed method is proved and its usability is verified by comparing it with a full space searching based simulator as well.