Error detection and management in CAN XR

Nowadays, Controller Area Network is still the most popular solution for in-vehicle communications in automotive scenarios. Recently, the CAN with eXtensible in-frame Reply proposal has been introduced, which permits several nodes to write at the same time on the bus in the data field of legacy CAN frames. This enables several new interesting communication services, including distributed key generation and highly-efficient data exchanges according to the combined message approach. Unfortunately, having several concurrent devices acting as transmitters for the same message impairs the ability of the protocol to detect global errors, hence worsening its robustness against electromagnetic disturbance. In this paper, this problem is analyzed in detail and some solutions are proposed, which make CAN XR as robust as the standard CAN protocol.