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

Table 5

The comparison of the measured and theoretical communication delays of the message of the vehicle controller node under OSEK 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	0.76043	0.7692	1.14%	1.6344
ID06	0.76505	0.78827	2.95%	1.6427
ID10	0.86326	0.80728	−6.93%	2.1817
ID15	0.88312	0.81935	−7.78%	3.878