A method to improve the stability and real-time ability of CAN

In order to relieve the severe collisions and losses of frames due to unordered sendings and broadcast characteristics in multi-nodes CAN communication and guarantee the reliability and validity of system and in the same time solve the synchronous collection which is hard to realize in conventional CAN, a dynamic autonomous synchronization method of frame queue in CAN bus communication based on frame identity is proposed in this paper, which builds a dynamic queue of IDs of frames to tell the time slot when the data to be sent and then realizes the synchronization of acquisition and enhances the real-time ability of communication. The method has been tested in an information collection system and achieved great results.