Dependable and flexible planning messages scheduling on CAN with MPS techniques

Controller Area Network has been widely used as an embedded network in real time industry systems, e.g. real time in-vehicle control applications and driverless vehicles. However, with the increasing criticality of real time mobile control systems, requirements of the embedded network have changed and emphasis on dependability and bandwidth limitations. Flexible time-triggered CAN (FTTCAN) supports CAN to fulfill current dependability requirements and supports both periodic and sporadic real-time message, FTTCAN integrates dependability and flexibility of scheduling messages. To achieve higher bus utilization and avoid lower priority messages in asynchronous traffic suffering from starvation, a dynamic mixed planning-based scheduling (MPS) policy is presented in this paper. Through a case study, its performance is evaluated for scheduling messages on CAN for real time mobile systems.