Message response time analysis for ideal controller area network (CAN) refuted

This paper revisits basic message response time analy-sis of controller area network (CAN). We show that exist-ing message response time analysis, as presented in [10], is optimistic. Assuming discrete scheduling, the problem can be resolved by applying worst-case response time analysis for fixed-priority non-preemptive scheduling (FPNS) as de-scribed in [4].