Systematic message schedule construction for time-triggered CAN

The most widely used standard for in-vehicle communication networks that interconnect electronic control units is the controller area network (CAN). However, the event-triggered architecture of CAN introduces several issues, such as predictability, signal jitter, and reliability. Different time-triggered networks. are being developed to address these issues. In this paper, we focus on time-triggered CAN (TTCAN), which achieves time-triggered behavior by implementing time-division multiple access on the existing CAN network standard. The main task is thus to construct a message schedule for a given set of messages while fulfilling certain performance criteria. To this end, we provide a formal framework for the construction of feasible message schedules in TTCAN networks by considering several performance metrics, such as bandwidth utilization and jitter, as well as the hardware constraints of the TTCAN controller specification.


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Controller Area Network (CAN) is the most widely used in-vehicle network for the communication among electronic control units (ECUs). CAN has a priority-based arbitration mechanism and the classical usage of CAN assumes the implementation of priority queues (PQs) on ECUs. Based on this assumption, the literature provides e cient algorithms for the computation of worst-case response times (WCRTs) of messages as well as for the appropriate assignment of priorities to messages in order to meet real-time guaran...
Citation Formats
K. V. Schmidt and Ş. E. Schmidt, “Systematic message schedule construction for time-triggered CAN,” IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, pp. 3431–3441, 2007, Accessed: 00, 2020. [Online]. Available: