The Infineon application note AP292501 describes the problem and two commonly used methods to solve this problem.

On the ICC 2003 Uwe Koppe (MicroControl) presented: Automatic bit-rate detection in CANopen networks.

The CiA has published an application note based on the Koppe paper: CiA AN 801 V1.0: CANopen automatic bit-rate detection. It can be downloaded at the CiA document page: http://www.can-cia.org/standardization/specifications/

Some of the CANopen drivers of different stack vendors are supporting auto bit rate detection.