On Priority Assignment for Controller Area Network when some Message Identifiers are Fixed

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



Publication details

Title of host publicationRTNS '15
DatePublished - Nov 2015
Place of PublicationNew York
Original languageEnglish
ISBN (Print)978-1-4503-3591-1


Controller Area Network (CAN) is widely used in automotive
applications. With CAN, the network utilisation that may be
obtained while ensuring that all messages meet their deadlines is
strongly dependent on the policy used for priority (message
identifier) assignment. This paper addresses the problem of
priority assignment when some message identifiers are fixed.
There are two variants of this problem: P1 where the gaps
between fixed identifiers are large enough to accommodate the
freely assignable messages and P2 when the gaps are too small.
For problem P1, we provide algorithms that give optimal and
robust priority orderings based on an adaptation of existing
techniques. Problem P2 is more difficult to solve. We show via a
counter example that the algorithms derived for P1 and others
recently published can fail to find a schedulable priority ordering
when the gaps are small, even though one exists. We derive an
optimal and robust solution to this problem with respect to a
simple form of schedulability analysis which assumes the same
upper bound on the length of all messages.

    Research areas

  • CONTROLLER AREA NETWORK, priority assignment, real time systems, scheduling


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