Abstract: Controller Area Network（CAN） is widely used in automotive electronics systems. It needs a gateway for communication between different CAN networks. For existing exhaustive search algorithm and simplify search algorithm, they both ignore the impact of higher priority message in the analysis of non-period inference caused by gateway message. This paper considers this point and improves the Worst-Case Response Time（WCRT） analysis for messages in CAN based on gateway-interconnection by considering the ignored higher priority messages and proving that gateway messages can cause maximum non-period interference when being released simultaneously. Finally simulation experiment is used by Matlab, and the experiment results indicate that the improved algorithm has lower time complexity and can reduce pessimism of the results.

Key words: Controller Area Network（CAN）, worst case response time, gateway

摘要： CAN网络广泛应用于汽车电子系统，不同的CAN网络之间需要借助网关进行通信。针对现有的穷尽搜索算法和简化搜索算法，二者为简化分析在分析网关消息所造成的非周期性干扰时忽略了部分高优先级消息的影响，结合这一点，通过考虑被忽略的高优先级消息的干扰，并证明网关消息同时释放时所造成的非周期性干扰最大，改进了基于网关互连的CAN网络最坏响应时间分析的方法。使用Matlab工具进行了仿真实验，实验结果表明，改进后的算法具有较低的时间复杂度以及能够降低结果的悲观性。

关键词: 控制器区域网络（CAN）, 最坏响应时间, 网关