4个LIN网络。A dynamic scheduling algorithm for LIN message scheduling was proposed. Positive direction bus load and reverse direction bus load were presented for analysis the bus schedulability. The positive message has been treated as sporadic ones while reversed the periodic ones. System matrix was used to schedule the messages based on time slice. The good real time characteristics of the algorithm were achieved and the master node of the algorithm became more flexible. Experiment has been carried out and four real networks were designed by using the algorithm.