简要介绍了CAN总线的一些基本概念和基本组织规则，详细阐述了CAN总线的报文、帧格式，错误类型以及检测错误能力。
It's basic concept and organizing rules and particularly represents the message, picture format, error style and checking error ability in CAN Bus are simply introduced.
“错误正面”浪费用户的带宽和计算能力，但用户可以在本地检测这样的交易。
False positives wastes a user's bandwidth and computational power, but a user can locally detect such false positives after receiving the transactions.
实验表明，该算法有效降低了检测错误的概率，显著地提高了扩频水印的抗攻击能力。
Experimental results demonstrate that the proposed algorithm is more tamper resistant than general spread spectrum watermark algorithm and the false detection rate is decreased considerably.
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