You are required to read and agree to the below before accessing a full-text version of an article in the IDE article repository.

The full-text document you are about to access is subject to national and international copyright laws. In most cases (but not necessarily all) the consequence is that personal use is allowed given that the copyright owner is duly acknowledged and respected. All other use (typically) require an explicit permission (often in writing) by the copyright owner.

For the reports in this repository we specifically note that

  • the use of articles under IEEE copyright is governed by the IEEE copyright policy (available at
  • the use of articles under ACM copyright is governed by the ACM copyright policy (available at
  • technical reports and other articles issued by M‰lardalen University is free for personal use. For other use, the explicit consent of the authors is required
  • in other cases, please contact the copyright owner for detailed information

By accepting I agree to acknowledge and respect the rights of the copyright owner of the document I am about to access.

If you are in doubt, feel free to contact

Comparative Evaluation of Various Generations of Controller Area Network Based on Timing Analysis



Aldin Berisa, Mohammad Ashjaei, Masoud Daneshtalab, Mikael Sjödin, Adis Panjevic , Imran Kovac , Hans Lyngbäck , Saad Mubeen

Publication Type:

Conference/Workshop Paper


28th International Conference on Emerging Technologies and Factory Automation


This paper performs a comparative evaluation of various generations of Controller Area Network (CAN), including the classical CAN, CAN Flexible Data-Rate (FD), and CAN Extra Long (XL). We utilize response-time analysis for the evaluation. In this regard, we identify that the state of the art lacks the response-time analysis for CAN XL. Hence, we develop the worst-case transmission times calculations for CAN XL and then incorporate them to the existing analysis for CAN to support response-time analysis of CAN XL frames. The extended analysis is backwards compatible with the previous generations of CAN. Using the extended analysis, we perform a comparative evaluation of the three generations of CAN by analyzing an automotive industrial use case. In crux, we show that using CAN FD is more advantageous than the classical CAN and CAN XL when using frames with payloads of up to 8 bytes, despite the fact that CAN XL supports higher bit rates. For frames with 12-64 bytes payloads, CAN FD performs better than CAN XL when running at the same bit rate, but CAN XL performs better when running at a higher bit rate. Additionally, we discovered that CAN XL performs better than the classical CAN and CAN FD when the frame payload is over 64 bytes, even if it runs at the same or higher bit rates than CAN FD.


author = {Aldin Berisa and Mohammad Ashjaei and Masoud Daneshtalab and Mikael Sj{\"o}din and Adis Panjevic and Imran Kovac and Hans Lyngb{\"a}ck and Saad Mubeen},
title = {Comparative Evaluation of Various Generations of Controller Area Network Based on Timing Analysis},
month = {September},
year = {2023},
booktitle = {28th International Conference on Emerging Technologies and Factory Automation},
url = {}