Abstract: This paper suggests a new message scheduling algorithm in distributed control units of intelligent ship engine system using CAN bus. The suggested algorithm determines and changes the priority of messages dynamically based on some parameters, e.g. buffer occupancy, message life time, message type (alarm and sensor/control message), and broadcast/unicast. The priority of message is calculated in real-time and put into the identiﬁﬁlt shows that the suggested algorithm guarantees the delay bound on both control/sensing messages and alarm message. In addition, it effectively reduces the probability of buffer overﬂow.