This invention provides a communication method, device, and
system based on a
CAN bus. The method includes: receiving a periodic start command broadcast by a master node; and, based on its topological position in the logical chain, executing the following transmission permission determination logic: if it is the first node in the logical chain, it determines that it has obtained
bus transmission permission in response to the periodic start command; if it is not the first node, it listens in real time for
token passing frames sent by predecessor nodes in the logical chain; within the communication period defined by the periodic start command, when it receives a
token passing frame sent by a predecessor node, it determines that it has obtained
bus transmission permission; within the obtained
bus transmission permission, it sends service data to the
CAN bus; after sending the service data, it broadcasts its own
token passing frame containing the address of the next-hop successor node to pass the bus transmission permission to the successor nodes in the logical chain.