Implementation of gateway message scheduling method for CAN/CANFD hybrid network

A scheduling algorithm based on different cycle queues is proposed to solve the delay problem of multi-cycle messages scheduling and forwarding in CAN/CANFD hybrid network gateway. When scheduling cycle messages in different weight and different cycle queues, this method can ensure the priority scheduling of short-cycle messages and enable the scheduling of long-cycle messages as soon as possible, so that it can reduce the stack of long-cycle messages. The proposed method can effectively reduce the average delay of the long cycle messages, thus ensuring the real-time performance of the messages.