然后根据通信实时性等要求，设计一种局部路由优化方案，该方案减少了报文传输时间，但可能导致绑定更新开销的增加。

Then according the timeliness, a kind of local route optimization scheme is designed. Although it can reduce the time of transmission, yet the cost of binding increase.

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CAN总线报文传输用时间触发操作解决网络拥塞。

The congestion of network is solved preferably using time-triggered operation in the communication of CAN protocol.

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仿真实验表明，MQAR协议在保持较高的报文传输率的情况下，有效地减少了路径建立时间和修复时间，大大降低了路由开销。

The simulation results show that MQAR protocol can effectively reduce route establishing time, route recovery time and routing overload as well, and the packet delivery ratio remains high.

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