Comparison between CAN and CAN FD: a quantified approach

CAN is currently the most widely employed realtime network inside the automotive cyber-physical system, but its limited bandwidth cannot meet the daily increasing bandwidth requirement as the auto industry is moving towards electrification and informatization. CAN FD is the next generation CAN for automobiles, which support the transmission data rate of up to 10 Mbps and the message payload of up to 64 bytes. However, no quantified comparison is investigated between CAN and CAN FD to show the high performance improvement of CAN FD. This paper provides the performance comparison of CAN and CAN FD based on both real message set from OEM and simulated message sets generated by NETCARBENCH 3.4. The comparison results show that CAN FD provides considerable performance improvements in several aspects