中文摘要：

CAN网络消息调度的方法直接关系到整车通信的实时性.在CAN网络特点基础上,提出一种基于EDF的分布式CAN网络动态调度方法.将CAN帧标识符分成静态段和动态段两部分,给出静态段ID设计原则和内容;针对动态段,提出分布式环境下节点内部消息的EDF调度机制,并通过建立消息阻塞模型,分析其可调度性;在此基础上,提出基于“幂函数”的动态段编码方法,并证明了其误差.仿真实验结果表明,该机制实现了基于EDF的CAN网络消息动态调度,有效降低了消息传输的最坏响应时间,提高了网络带宽利用率.

英文摘要：

The method of message scheduling in CAN network is directly related to vehicle＇ s real-time communication. On the basis of CAN network features, a dynamic scheduling method of distributed CAN network is proposed. The CAN frame identifier is divided into the static segment and the dynamic segment. The design principle and content of the static segment ID are described. In the dynamic segment, the EDF scheduling method is used to assign the priorities dynamically. An EDF scheduling algorithm is designed under the distributed environment for the messages inside the nodes, a message blocking model is established, and its schedulability is analyzed. And a dynamic segment encoding method based on the power function is designed and then its quantization error is proved. The experiment results show that this method successfully realizes the dynamic scheduling of CAN network based on the EDF, the worst-case response time of message transmission is reduced and the network bandwidth utilization is improved.