Optimal Message Scheduling for the Static Segment of FlexRay

In this paper, we study the scheduling of periodic messages in the static segment of the FlexRay protocol. Our approach is based on two performance metrics. Similar to previous work, we seek to allocate a minimum number of frame IDs (FIDs) in the static segment. In addition, different from existing work, we want to minimize the message jitter, i.e., the deviation of the message transmission from the required periodicity. To this end, we 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 our schedule optimization.