When confirming the status of a node, there are several factors to consider: First, the node is shared by the highest priority information and other information, so errors in other information in the transmission process will also affect the node status; Second, The condition to enter the ErrorPassive or BusOff state is the value of the sending error counter and/or the receiving error counter. Due to the atomic broadcast feature of CAN, the sending error or receiving error of other nodes will open an error frame, thus affecting the receiving error counter of this node. The value of , which in turn affects the node state. For messages with lower priority, the dispersion of transmission time is greater.