Worst case response time approach evaluation for computing can messages response time in an automotive network

The Controller Area Network was designed by Bosch in the mid 80's, whose focus was to provide greater efficiency on the communication of automotive networks at a low cost of implementation. A common problem in a CAN network is that it is unable to guarantee the timing performance of the lower priority messages. When a message miss its deadline, the reliability of the CAN network can be compromised. To avoid this condition many papers, use the Worst Case Response Time (WCRT) analysis to calculate the message response time. This value shall be less than the message deadline. However, the WCRT analysis can lead to a pessimistic approach. This overestimation can increase the cost of the project and reduce the capacity of messages. Hence, the aim of this paper is to assess the pessimism of the WCRT and emphasize its impacts.