A Timed Automata Model for Systems with Gateway-Connected Controller Area Networks

Networked systems where events happen in parallel and interact with each other are hard to analyze and prone to errors. Formal methods can help in these cases to discover errors, unexpected scenarios and verify that some property is satisfied in all possible sequences of events. In this paper a timed automata model is presented and this model together with timed computational tree logic allows formal verification of system properties. Timed automata model for single controller area network (CAN) was published previously, but this paper for a first time presents a model that can handle CAN buses connected by a gateway. For selected system configurations a model checking was performed to prove some qualitative properties of the model and finally the worst case delays for messages with different priorities are determined and formally verified.