Due to different hardware environments of different vehicle electronic control units, the reusability of vehicle electronic software is reduced, which hinders the development of vehicle electronics. First, in this paper, we proposed a SOA-based middleware for vehicular embedded system, which makes it possible for each ECU to dispatch and receive data on the bus by service, it will hide the underlying heterogeneity. Second, on the basis of the vehicular service scheduling algorithm, a priority allocation algorithm based on criticality level is proposed. This algorithm makes the transmission of all interior services more efficient. Third, simulation results show that our algorithm has a higher scheduling ratio when the number of tasks is increased to a certain amount.
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