An analytical performance model of the internet-working device in embedded CAN-based networks

Controller Area Network (CAN) has become the most popular protocol for real-time control and automation systems due to its high reliability and low cost. However, CAN suffers from a limitation on the maximum length of a single bus arising from its specified bus topology. In order to solve this drawback indicated, a new internetworking device had been proposed to divide large-scale CAN networks into several subnets. The internetworking device not only plays the role of hub for an active-star topology but also efficiently connects all subnets by employed additional functions. In this letter, we proposed an analytical performance model of the internetworking device in CAN-Based Networks. In this model, the extra delay caused by internetworking device when exchanging the messages among different subnets is analyzed. It can be seen that theoretical analyzes better fit experimental results.