A controller area network has a plurality of nodes in communication through a bus. The nodes have controllers and computer readable instructions that, when executed, perform the steps of: receiving a new message; inserting the new message into the queue in order of priority if the queue is not full; refusing the new message if the queue is full and the priority of the new message is lower than the priorities of current messages in the queue; inserting the new message into the queue in order of priority if the queue is full and the priority of the new message is higher than a priority of at least one of the current messages; removing the new message from the queue if the current time exceeds an expiration indicator; sending the new message to the controller for transmission and holding the new message in the queue during transmission; and removing the new message from the queue after successful transmission.