Abstract: The scheduling of mixed-criticality systems with communication contention based on multiple DAGs model is the requirement of automobile electronic systems with heterogeneity and distribution. Firstly, the more accurate “upward rank value” and “earliest finish time” with communication contention on time are implemented to adapt to the heterogeneity of both computing and networking, and the synchronization of task and message in this paper. Then, an algorithm called fairness on multiple DAGs dynamic task and message scheduling (F_MDDTMS) is proposed to reduce scheduling length. An algorithm called criticality on multiple DAGs dynamic task and message scheduling (C_MDDTMS) is proposed to ensure the real-time of higher criticality applications. An algorithm called mixed criticality on multiple DAGs dynamic task and message scheduling (MC_MDDTMS) is also proposed based on the joint of F_MDDTMS algorithm and C_MDDTMS algorithm to ensure hard real-time of higher criticality applications and the activity of lower criticality applications of mixed-criticality systems. Example analysis and experimental results show that the proposed algorithms are excellent on scheduling length, unfairness, worst-case response time (WCRT) and real-time.