Modern　embedded　systems　tend　to　use　multiple　cores　or　processors　for　processing　parallel　applications.　This　paper　indeed　aims　at　task　scheduling　with　communication　contention　for　parallel　embedded　systems　and　proposes　three　advanced　techniques　to　improve　the　list　scheduling　heuristic.　Five　groups　of　node　levels　(two　existing　groups　and　three　new　groups)　are　firstly　used　as　node　priorities　to　generate　node　lists.　Then　the　critical　child　technique　improves　the　selection　of　a　processor　in　the　scheduling　process.　Finally,　the　communication　delay　technique　enlarges　the　idle　time　intervals　on　communication　links.　We　also　propose　an　advanced　dynamic　list　scheduling　heuristic　by　combining　the　three　techniques.　Experimental　results　show　that　the　combined　advanced　dynamic　heuristic　is　efficient　to　shorten　the　schedule　length　for　most　of　the　randomly　generated　DAGs　in　the　cases　of　medium　and　high　communication.　Our　method　accelerates　an　application　up　to　80%　in　the　case　of　high　communication　and　can　also　reduce　the　use　of　hardware　resources.