Node: A collection of devices connected to a communication network that can communicate through the network according to a certain communication protocol. The CAN bus is a multi-master bus. Once the bus is idle, any CAN node can send data to the bus. The node that preferentially sends the message in the CAN bus channel depends on the lossless bit-by-bit arbitration method, which can save the conflict time, especially in the case of heavy network load, it can also run smoothly, which can ensure the utilization rate of the signal channel and improve the real-time performance of the entire system.