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CAN( controller area network) bus is the most widely used field bus. Due to the lack of authentication and message checking mechanism, CAN bus has great security risks, so it is necessary to design a defense mechanism for CAN bus. In this paper, a priority hopping mechanism is designed, which introduces the dynamic hopping of identifiers by Hash function into a real-time scheduling algorithm. The fixed priority is calculated by a genetic algorithm, and the compromise range of priority is found out. Each frame is grouped, and the ID segment of data frame is segmented and reconstructed. The former part of the ID segment determines the priority and performs priority hopping, while the latter part of the ID segment hops dynamically at one time. Experimental results show that using dynamic priority and one-time ID Hopping to hop has a greater security improvement than the existing ID Hopping mechanism. [ABSTRACT FROM AUTHOR]