Response Time Analysis for Nonperiodic CAN Message Based on GI/G/1 Queue Model

Controller area network (CAN) has wide applications in modern industrial control systems. Automobile manufacturers use this communication protocol for vehicle control, which is subject to real-time and high-reliability performance. However, with the increasing actuators gathered in the vehicle, time delay will lead to a serious problem for the vehicle safety and performance control. Thus, the information transmission stability of the CAN message needs to be investigated. In order to find out the delay response time of nonperiodic CAN message in the vehicle bus area, the response of the message transmitted in the CAN bus is modeled based on the GI/G/1 queue theory. The test platform is developed to verify the methodology. In the experimental test, some conditions with different IDs, load ratios, and priorities are investigated. Experimental results are compared with the theoretical results, and the simulation results show that the method is valid and verify the real response delay time of nonperiodic CAN message.