DDCAN: Delay-Time Deliverable CAN Network
Ryo Kurachi, Hiroaki Takada, Naoki Adachi, Hiroshi Ueda, Yukihiro Miyashita · 2019
The Controller Area Network (CAN) is widely used in in-vehicle networks. As increasing the number of Electronic Control Units (ECUs) in an in-vehicle system, the delay of the CAN message is critical issues to achieve high accuracy of the control applications. This protocol employs an arbitration mechanism for priority-based transmission, therefore, although it is easy to estimate the worst-case response time (WCRT) of each message by using real-time scheduling theory, there is no way to know the delay time at which each CAN message was generated in the run-time environment. To address this issue, in this paper, we propose a method is to notify the real delay time of each message without synchronizing to global time between each node in the run-time environment. Our proposed method can provide the delay time of each CAN message with a small improvement so it can be applied for the existing in-vehicle systems.