Modeling and Performance Evaluation of Time-Triggered CAN Bus

Time-triggered mechanisms improve the ability of Controller Area Network (CAN) bus to deal with the time-critical periodic messages. However, the non-periodic messages have the burst and unpredictable characteristics with complex types. Therefore, it's difficult to analyze their transfer performance. To resolve this problem, a multi-nodes model of time-triggered CAN system is proposed, which is based on deterministic and stochastic Petri net. Through the simulation of the non-periodic messages in asynchronous part, relative performances including the throughput, the average packet delay and the quantitative laws are obtained. These performance are very useful to the analysis and design of the time-triggered CAN systems.