Determining message delivery delay of controller area networks

The main object of distributed real-time systems is to satisfy the timing requirements of hard and soft real-time communication. That is to say the deadlines of hard real-time traffic (HRT) must be guaranteed, while those of soft real-time traffic (SRT) can occasionally be missed without major consequences. The main issue considered in this paper is to provide a method to calculate the message delivery delay time of controller area networks, which is a key step to determine the HRT and SRT timing constraints.