The TTCAN (time-triggered communication on CAN) protocol is based on CAN (Controller Area Network). It may use standardized CAN physical layers such as specified in ISO 11898-2 (high-speed transceiver) or in ISO 11898-3 (fault-tolerant low-speed transceiver). TTCAN provides mechanism to scheduled CAN messages time-triggered as well as event-triggered. This will allow using CAN-based networks for closed-loop control. Another benefit is the increase of real-time performance in CAN-based in-vehicle networks.