Software-based EDF message scheduling on CAN networks

In this paper, a CAN-based communication system has been used to transmit data between different kinds of sensors and the drive control of an electrical vehicle. Software-based earliest deadline first (EDF) scheduling has been applied to order the data, making possible that more relevant measures meet with their delivery time and, discarding, if necessary, less relevant ones are discarded. The messages use their time-to-deadline as their priority level. With this mechanism, alongside with the discard of data that has lost its deadline, is it possible to deal with saturated that would require a bus utilization well above 100%.