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

Table 6

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

Message ID	Measured average communication delay (ms)	Theoretical average communication delay (ms)	Average communication delay error	Maximum measured communication delay (ms)
ID03	5.2397	5.1803	−1.15%	15.317
ID06	0.6094	0.6174	1.30%	0.6173
ID10	0.6014	0.6094	1.31%	0.6093
ID15	0.5904	0.5984	1.34%	0.5983