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A message scheduling method suitable for CAN-based bus networks is presented in this paper, it realizes message scheduling by dynamically changing identifier of message. The method can effectively guarantee that all messages can be successfully transmitted to destination nodes within given delay time, and the network bandwidth resources can also be fairly distributed to all message streams. In this method, the priority level of message waiting transmission is added by certain proportion value relating to the given delay time. This paper gives mathematical model of the proposed scheduling method, and analyses the condition of full schedulability of messages. The correctness of the condition and the validity of the scheduling method has been verified by some experimental results.