The schedulability analysis and software design for networked control systems of vehicle based on CAN

The worst-case response time of the message and busload are the main parameters in scheduleability analysis for the Controller Area Network (CAN) bus. This paper gives the probability distribution curves of stuffed bits in message´s different length by introducing the probability model of stuffed bits. It obtains the maximum stuffed bits under a given probability P, to reduce pessimism of the worst-case response time and busload value. Taking it as a theoretical guide, and we design and develop scheduling analysis software on fixed priority message scheduling. Then we use the software to analysis the scheduleability for the messages in a Hybrid Electric Vehicle. Furthermore, a simulation experiment based on CANoe was made to test the design. By comparing the results, it shows that algorithm, as we introduced, based on the probability model of stuffed bits is right, and the designed software is accurate and reliable.