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A dynamic distributed message scheduling method suitable for CAN (Controller Area Network) network was proposed in this paper, it can guarantee that, within given lifetime (LT), all messages in the CAN-based network can be transmitted to destination nodes successfully, and can fairly allocate network bandwidth resource to message streams. In this method, the identifier of message frame was reconfigured, and its binary value is related to the LT and the waiting time (WT) of message and so on. The longer the WT of message or the shorter its LT is, the higher priority level of the message is. The necessary condition of full scheduleability of messages is also analyzed in this paper, and some experiment results verify that the necessary condition is correctness and the scheduling method is valid.