Haibo Zeng Marco Di Natale Paolo Giusto Alberto L. Sangiovanni-Vincentelli Statistical analysis of Controller Area Network message response times. 1-10 2009 SIES http://dx.doi.org/10.1109/SIES.2009.5196185 conf/sies/2009 db/conf/sies/sies2009.html#ZengNGS09