Optimal Message Scheduling for the Static Segment of FlexRay
In this paper, the authors study the scheduling of periodic messages in the static segment of the FlexRay protocol. Their approach is based on two performance metrics. Similar to previous work, they seek to allocate a minimum number of Frame IDs (FIDs) in the static segment. In addition, different from existing work, they want to minimize the message jitter, i.e., the deviation of the message transmission from the required periodicity. To this end, they first derive analytical expressions that quantify the FID allocation and the jitter, and then formulate a linear integer programming problem whose solution is the desired message schedule. An example illustrates their schedule optimization.