carrier sense multiple access/collision resolution (CAN bus) (CSMA/CR)
Carrier Sense Multiple Access with Collision Resolution(CSMA/ CR) is a multiple access method in which several stations have access to the transmission medium.
Unlike other CSMA methods, CSMA/CR, which is used in the CAN bus, among other things, uses arbitration forcollision avoidance. The arbitration used in CSMA/CR is based on the priorities with which the individual stations transmit their data over the transmission medium. Arbitration only occurs when several stations access the transmission medium at the same time.