Scheduling of vehicle body CAN-Bus with event-triggered least slack time first technique

Dynamic schedule strategies can bring higher resource utilization of network then static ones, while techniques such as least slack time first (LSF) and earliest deadline first(EDF) scheduling can hardly be applied to CAN bus because the scope of deadline of CAN bus messages are too large while the bit sizes in CAN frame identifier is limited, and it is difficult to guarantee strict time synchronization in all nodes. To solve these problems, an event-triggered LSF algorithm based on CAN bus arbitration is proposed. The principle and schedulability analysis of LSF and the overhead of processor are given. Finally the LSF is used to schedule vehicle body system by compare with RM algorithm, the scheduling result verifies that the proposed LSF is feasible, and has perfect performance.