Online Real-Time Estimation of Response Time for Periodic Messages in Controller Area Networks

Table 5

Quantitative values of the evaluation parameters used to assess the effects of message priority, message sending order, baud rate, and bus load on the estimation accuracy.

Parameter	Message priority			Message sending order			Baud rate (Kbps)			Bus load
	4	6	13	1	2	4	125	250	500	23.68%	30.80%	42.88%
(ms)	0.316	0.061	0.132	0.179	0.121	0.135	0.044	0.028	0.026	0.022	0.273	0.018
(ms)	−0.220	−0.269	−0.008	−0.089	−0.073	−0.109	−0.010	−0.006	0	−0.020	−0.256	−0.016
(ms)	0.025	0.014	0.025	0.025	0.026	0.024	0.017	0.011	0.014	1.086e − 3	1.627e − 3	9.260e − 4
(ms^2)	1.550e − 3	5.417e − 4	1.999e − 4	2.511e − 4	3.096e − 4	2.989e − 4	6.850e − 5	2.786e − 5	1.696e − 5	3.371e − 5	1.505e − 3	2.742e − 5