Dynamic scheduling method for OSEK COM messages based on CAN network

The invention belongs to the technical field of CAN network communication, and in particular relates to a dynamic scheduling method for OSEK COM messages based on a CAN network. In an OSEK COM communication system based on the CAN network, a second domain of high order of an identifier of an extended CAN frame consists of IPDU ID; in the same ECU, a data unit is provided with smaller IPDU ID, the data unit has higher priority; and each ECU node is allocated with a node priority and the node priority of each ECU is dynamically adjusted in a running process of the network to ensure that the IPDU messages are not starved as possible. The method uses the extended CAN frame (CAN ID in the 29th order) to solve the problems of flexible scheduling and sharding of the IPDU. Under an OSEK COM framework, the invention provides a dynamic scheduling method for CAN priorities under the OSEK COM framework so as to solve the problem of mapping between the OSEK COM and the CAN network.