On the priority problem of CAN protocol: A new idea

CAN is one of the widely-used control network protocols in industry. In spite of its any advantages, it has a number of drawbacks such as its priority, message latency, and bubbling idiot problems. This paper introduces a novel “event-triggered” control protocol, named in this paper as `counter-CAN´, denoted by C-CAN. The protocol is defined and evaluated. For evaluating the performance of C-CAN, two indices have been defined: timing performance and node latency. These indices have been used for the evaluation of conventional CAN and C-CAN in three scenarios. Experimental results showed that performance of the C-CAN is better than that of the conventional CAN in terms of both reliability and response-time indices. The paper has also showed that the novel protocol overcomes the priority and message latency problems of CAN.