A Practical Message ID Assignment Policy for Controller Area Network that Maximizes Extensibility

Florian Pölzlbauer, Robert Ian Davis, Iain John Bate

Research output: Chapter in Book/Report/Conference proceedingConference contribution


Controller Area Network (CAN) is widely used in automotive applications. Policies for message ID and thus priority assignment have a significant impact on schedulability. In addition, they also determine extensibility; the scope to add messages required by future upgrades without compromising schedulability. In this paper we address message ID assignment, such that the system is extensible. First, we provide an assessment metric that provides an in-depth view of the extensibility of a given ID-assignment, tailored for use in automotive applications. Second, we develop a practical IDassignment policy which maximizes extensibility. This policy provides an upgrade pathway: it is used to provide the initial ID-assignment, and also used for ID-assignments during subsequent upgrades. The policy optimizes extensibility by maintaining Deadline minus Jitter Monotonic Priority Ordering, which ensures that it does not compromise either
schedulability or robustness to errors on the bus. Evaluation using a simple automotive benchmark shows the effectiveness of the policy over multiple upgrades.
Original languageEnglish
Title of host publicationProceedings of 24th International Conference on Real-Time Networks and Systems
Subtitle of host publicationRTNS16
ISBN (Electronic)978-1-4503-4787-7
Publication statusPublished - Oct 2016
Event24th International Conference on Real-Time Networks and Systems (RTNS 2016) - Brest, France
Duration: 18 Oct 201621 Oct 2016


Conference24th International Conference on Real-Time Networks and Systems (RTNS 2016)


  • controller area network
  • priority assignment
  • ID assignment
  • extensibility

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