Implementation of an Auto-Baud

Hey everyone!

I am currently considering to implement an Auto-Baud switching mechanism (125k, 250k, 500k, 1M Baud)
To do so I would listen on the Bus (maybe with peak-can in PASSIVE mode) and if there is traffic I would see if I am reading error-frames or "valid" messages. If I am only encountering error-frames I would adjust the Baud-Rate to another value chosen from a list of pre-defined rates.

Has anyone already implemented anything similar or had any experience with this specific problem? If you have another suggestion on how to approach this problem I would be happy to hear that too.

Thanks already!