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Mathematical Problems in Engineering
Volume 2013, Article ID 637621, 10 pages
Research Article

Modeling and Analysis of Online Delay of Nonperiodic CAN Message

1School of Automotive Engineering, Harbin Institute of Technology, Weihai 264209, China
2Academy of Armored Forces Engineering, Beijing 100000, China

Received 3 September 2013; Accepted 11 October 2013

Academic Editor: Hui Zhang

Copyright © 2013 Dafang Wang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In order to analyze the online communication delay of nonperiodic CAN message, the mathematical model of average on-line delay is established based on M/G/1 queuing theory and an experimental platform is designed to analyze the delay of CAN communication, with which the on-line delays of messages with a different ID are tested at different load ratios. The results show that the model is very close to the actual situation indicating the high accuracy of the model. In the results, for the same message, the average and maximum online delays both increase with the raise of load ratio. At the same load ratio, the maximum on-line delay increases with the decrease of the message priority, and the average on-line delay remains almost unchanged.