Modular Scheduling of Distributed Heterogeneous Time-Triggered Automotive Systems

This paper proposes a modular framework that enables a scheduling for time-triggered distributed embedded systems. The framework provides a symbolic representation that is used by an Integer Linear Programming (ILP) solver to de-termine a schedule that respects all bus and processor con-straints as well as end-to-end timing constraints. Unlike other approaches, the proposed technique complies with automotive specific requirements at system-level and is fully extensible. Formulations for common time-triggered automotive operat-ing systems and bus systems are presented. The proposed model supports the automotive bus systems FlexRay 2.1 and 3.0. For the operating systems, formulations for an eCos-based non-preemptive component and a preemptive OSEK-time operating system are introduced. A case study from the automotive domain gives evidence of the applicability of the proposed approach by scheduling multiple distributed control functions concurrently. Finally, a scalability analysis is car-ried out with synthetic test cases. 1