Time-Triggered Technique Realized on Redundant CAN Channels

The paper presents a redundant CAN channels based on time-triggered technique.Clock on the distributed nodes remain synchronized in the event of failures in the underlying communication channels,without the need for expensive or added interface electronics.When using this framework with redundant channels,the higher bandwidth usage can be achieved,the probability of inconsistent message duplicated can be controlled.The method is suitable for safety-critical distributed system in which much periodical data exchange and a few of non-periodical messages are required.