Experimental Study on Communication Delay of Powertrain System of Plug-In Hybrid Electric Vehicles

Table 4

The comparison of the measured and theoretical communication delays of the message of the vehicle controller node under foreground-background mode with the CAN protocol.

Message ID	Measured average communication delay (ms)	Theoretical average communication delay (ms)	Average communication delay error	Maximum measured communication delay (ms)
ID03	0.75585	0.73658	−2.62%	1.4599
ID06	0.73184	0.75523	3.10%	1.4097
ID10	0.80478	0.77407	−3.97%	2.3594
ID15	0.79332	0.78634	−0.89%	3.9359