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We propose an evaluation metric for communication status that classifies the communication delay as passive, additive, and temporary communication delay and an asynchronous delay compensation Kalman filter with an outlier rejection strategy. Experimental and simulation results demonstrate the kalman filter’s ability to handle both additive and temporal communication delays, contributing to improved safety integrity in line with ISO 26262 requirements. The result shows that the proposed filter can resist not only additive communication delays but also can resist temporal communications delays.