The invention discloses a CAN message priority dynamic arbitration method and
system based on event triggering, and the method comprises the steps: obtaining a discrete sampling
signal of a CAN node of an
engineering vehicle and a state register value of a CAN controller, converting the discrete sampling
signal into a working condition data sequence, and obtaining a
bus load rate through the state register value; obtaining an event
state sequence according to the working condition data sequence; all CAN messages to be sent are constructed into a message data
record, and the message data
record with event
semantics and dynamic priority labels is obtained according to the
protocol data unit and the event
state sequence; and according to the
bus load rate and the event
state sequence, sending a message data
record with event
semantics and dynamic priority annotations by adopting a
token bucket mechanism through a three-level
priority queue linked with a three-state state
machine. According to the invention, the security key message in the
system can still be transmitted in time under
high load, and the bandwidth occupation and
delay jitter caused by the low-priority message are avoided at the same time.