A Method for Reducing End-to-End Delay with Priority Assignment in CAN-CAN Gateway

Multiple controller area network (CAN) buses are often integrated in in-vehicle networks to support various functions and control systems. Although the CAN-CAN gateway has a critical role in relaying messages between these buses, it increases the end-to-end (E2E) delay of messages. This study proposes a method for reducing the E2E delay of messages transmitted through a CAN-CAN gateway by changing their CAN IDs. The E2E delay of gateway messages is minimized using a simulated annealing algorithm. An evaluation of the proposed method demonstrates that it can significantly reduce the E2E delay of gateway messages compared to that obtained with methods in which CAN IDs remain unchanged or are randomly altered and a method that uses the Targeted Priority Assignment algorithm.