该论文以CAN总线的实时性问题为研究对象，在系统分析了CAN总线协议的特点并指出CAN总线的主要局限性的基础上，对CAN总线网络通信的实时性问题进行理论分析。 -CAN bus to the paper issues real-time study in the analysis of the characteristics of CAN bus protocol and pointed out that the main limitations of CAN bus based on CA