Information and Media Technologies
Online ISSN : 1881-0896
ISSN-L : 1881-0896
Computer Networks and Broadcasting
The Worst-Case Response Time Analysis for FIFO-based Offset Assigned CAN Messages
Yang ChenRyo KurachiGang ZengHiroaki Takada
Author information

2012 Volume 7 Issue 2 Pages 841-852


The Controller Area Network (CAN) is widely employed in automotive control system networks. In the last few years, the amount of data has been increasing rapidly in these networks. With the purpose of improving CAN bandwidth efficiency, scheduling and analysis are considered to be particularly important. As an effective method, it has been known that assigning offsets to the CAN messages can reduce their worst case response time (WCRT). Meanwhile, the fact is that many commercial CAN controllers have been equipped with a priority or first-in-first-out (FIFO) queue to transmit messages to the CAN bus. However, previous researches for WCRT analysis of CAN messages either assumed a priority queue or did not consider the offset. For this reason, in this paper we propose a WCRT analysis method for CAN messages with assigned offset in the FIFO queue. We first present a critical instant theorem, then we propose two algorithms for WCRT calculation based on the given theorem. Experimental results on generated message sets and a real message set have validated the effectiveness of the proposed algorithms.

Content from these authors
© 2012 Information Processing Society of Japan
Previous article Next article