Modeling and simulation of CAN bus delay under electromagnetic interference

In order to study the real-time performance of controller area network (CAN) under electromagnetic interference (EMI), a mathematical model for the worst-case message delay time of CAN bus is established. The paper also establishes an improved generalized Poisson distribution EMI model. The feature of CAN message transmission delay is analyzed. The probability distribution of the delay time and the time-out probability of CAN messages are given. Moreover, based on the theory of worst case response time (WCRT), the research takes PSA (PSA Peugeot Citroen) message collection for an example to carry out simulation analysis using VNT (Vehicle Network Toolbox). The result shows that the priority and cycle period of messages affect the transmission delay and timeout probability distribution of CAN message.