Distributed node fault detection and tolerance algorithm for controller area networks

Abstract

The major concern in a Controller Area Network based safety critical system are node failures, its early detection and failure tolerance. Aiming at the improvement of node fault detection timing response and reliability of a CAN based distributed system, this paper mainly focuses on a new fault detection and tolerance algorithm named Distributed Node Fault Detection and Tolerance [DNFDT] Algorithm for Controller Area Network. The purpose of the algorithm is to have an effective fault detection method for (n-1) node faults for n node system by reducing the fault detection cycle timings and by limited checking on fault free nodes. A four node experimental hardware platform was implemented and performance evaluation of the time elapsed for one complete fault detection cycle under varying CAN bus loads have been obtained.