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 CAN bus network communication theory in real-time analysis of issues .
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