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CN-122019069-A - Standardized framework for vehicle management tasks

CN122019069ACN 122019069 ACN122019069 ACN 122019069ACN-122019069-A

Abstract

The present disclosure relates to a standardized framework for vehicle management tasks. Embodiments include a method of managing execution of real-time tasks in a multi-core processor system. The method includes instantiating a plurality of task instances, each task instance associated with a task-specific configuration. The method also includes executing, by each task instance, one or more worker threads according to a predefined execution phase. The method further includes invoking a task profiling callback associated with each task instance to record task level performance data during execution, and invoking an intra-task profiling callback associated with each worker thread to record intra-task performance data within each execution phase. The method also includes synchronizing, by the global configuration, the task-level performance data and the intra-task performance data to provide unified parsing of task instances executing across cores.

Inventors

  • S. Hassan
  • N. DICKEN

Assignees

  • 瑞维安知识产权控股有限责任公司

Dates

Publication Date
20260512
Application Date
20251106
Priority Date
20241108

Claims (20)

  1. 1. A computer-implemented method for managing execution of real-time tasks in a multi-core processor system, the method comprising: instantiating a plurality of task instances by a task management service executing on respective cores of the multi-core processor system; Executing, by each task instance, one or more worker threads of a plurality of worker threads associated with the plurality of task instances; invoking, by the task management service, a task profile callback associated with each task instance to record task level performance data during execution of the one or more worker threads; Invoking, by the task management service, an intra-task parsing callback associated with each worker thread of the task instance to record intra-task performance data within each execution phase, and A global configuration accessible by the task management service synchronizes the task level performance data and the intra-task performance data to provide a unified parsing of the task instances across the cores execution.
  2. 2. The method of claim 1, wherein each task instance is associated with a task-specific configuration comprising a real-time operating system (RTOS) parameter set, a common task identifier, and the plurality of worker threads.
  3. 3. The method of claim 1, wherein invoking the task profiling callback comprises: Recording a start time and a stop time of each execution slice of the task instance, and The execution duration of the real-time scheduling analysis is calculated.
  4. 4. The method according to claim 1, Wherein the one or more worker threads are executed according to predefined execution phases including a pre-initialization phase, an initialization phase, and a continuous phase, and Wherein invoking the intra-task parse callback comprises: monitoring the execution timing of each worker thread within the successive phases, and Deviations of the worker thread execution duration from the predefined real-time slice are detected.
  5. 5. The method of claim 1, wherein synchronizing the task level performance data and the intra-task performance data comprises: The recorded task level performance data and the intra-task performance data from the plurality of task management services are aggregated into a global task instance object maintained in the global configuration.
  6. 6. The method of claim 1, the method further comprising: Scheduling algorithm parameters are dynamically adjusted in response to the task level performance data and the intra-task performance data, the scheduling algorithm parameters being accessible through the globally configured callback interface.
  7. 7. The method according to claim 1, Wherein the in-task profiling callback also records worker thread level latency, jitter, and CPU utilization metrics, an Wherein the task profiling callback also records a task level duty cycle and a context switch delay.
  8. 8. The method of claim 1, the method further comprising: a performance report is generated based on the synchronized task level performance data and intra-task performance data, the performance report indicating per-core task execution timing and intra-task phase performance for each task instance, the performance report being used to adjust task priority or core allocation within the multi-core processing system.
  9. 9. A multi-core processing system, the multi-core processing system comprising: A plurality of processing cores; a real-time operating system (RTOS) executing on each of the plurality of processing cores, and A task management service executed by the RTOS on each processing core, wherein the task management service is configured to: Instantiating a plurality of task instances associated with a plurality of worker threads; Invoking a task parsing callback to record task level performance data for each task instance; Calling an in-task parse callback to record worker thread level performance data, and The recorded task-level performance data and the worker thread-level performance data for all task instances are synchronized across the plurality of processing cores via a global configuration that includes global callbacks and global task state information.
  10. 10. The multi-core processing system of claim 9, wherein each task instance is associated with a task-specific configuration that includes a real-time operating system (RTOS) parameter set, a common task identifier, and the plurality of worker threads.
  11. 11. The multi-core processing system of claim 9, wherein the global configuration further comprises: a global task instance that maintains aggregate task level and intra-task profile data from the plurality of processing cores, an And the callback structure comprises a scheduling algorithm callback, a task parsing callback and an in-task parsing callback.
  12. 12. The multi-core processing system of claim 9, wherein the task management service dynamically modifies scheduling parameters of the RTOS to balance workload across the plurality of processing cores in response to analysis of the recorded task-level performance data and worker thread-level performance data.
  13. 13. The multi-core processing system of claim 9, Wherein the one or more worker threads are executed according to predefined execution phases including a pre-initialization phase, an initialization phase, and a continuous phase, and Wherein the intra-task profiling callback measures timing, latency, and execution count of worker threads in the successive phases, and the task profiling callback measures overall task duration and CPU utilization per frame interval.
  14. 14. The multi-core processing system of claim 9, wherein each task management service maintains a context object linking task-specific configurations and task instances, and the global configuration synchronizes the context objects among the plurality of processing cores.
  15. 15. The multi-core processing system of claim 9, wherein the global configuration outputs a synchronized profiling report that identifies per-core timing drift, worker thread level delay, and task execution jitter.
  16. 16. A non-transitory computer-readable medium storing instructions that, when executed by one or more processors of a multi-core processing system, cause the one or more processors to perform a method comprising: Instantiating a plurality of task instances; executing one or more worker threads of a plurality of worker threads associated with the plurality of task instances; Invoking a task profile callback associated with each task instance to record task level performance data during execution of the one or more worker threads; invoking an intra-task parsing callback associated with each worker thread of the task instance to record intra-task performance data within each execution stage, and The task level performance data and the intra-task performance data are synchronized by a global configuration to provide uniform profiling of the task instances executing across processing cores.
  17. 17. The non-transitory computer-readable medium of claim 16, wherein each task instance is associated with a task-specific configuration that includes a real-time operating system (RTOS) parameter set, a common task identifier, and the plurality of worker threads.
  18. 18. The non-transitory computer-readable medium of claim 16, wherein invoking the task profiling callback comprises: Recording a start time and a stop time of each execution slice of the task instance, and The execution duration of the real-time scheduling analysis is calculated.
  19. 19. The non-transitory computer readable medium of claim 16, Wherein the one or more worker threads are executed according to predefined execution phases including a pre-initialization phase, an initialization phase, and a continuous phase, and Wherein invoking the intra-task parse callback comprises: monitoring the execution timing of each worker thread within the successive phases, and Deviations of the worker thread execution duration from the predefined real-time slice are detected.
  20. 20. The non-transitory computer readable medium of claim 16, wherein synchronizing the task level performance data and the intra-task performance data comprises: The recorded task level performance data and the intra-task performance data from the plurality of task management services are aggregated into a global task instance object maintained in the global configuration.

Description

Standardized framework for vehicle management tasks Cross Reference to Related Applications The present application claims the benefit of co-pending U.S. provisional patent application Ser. No. 63/718,493 filed 11/8 of 2024. The above-mentioned related patent applications are incorporated herein by reference in their entirety. Drawings FIG. 1A illustrates an example vehicle according to some embodiments. Fig. 1B illustrates a chassis of a vehicle according to certain embodiments. Fig. 2A is a schematic block diagram of components of a vehicle according to certain embodiments. Fig. 2B is a schematic block diagram of alternative components of a vehicle according to certain embodiments. Fig. 3 is a schematic block diagram illustrating an asymmetric multi-core processing (AMP) system in accordance with certain embodiments. Fig. 4 is a schematic diagram illustrating data flow in an AMP system according to some embodiments. Fig. 5 is a method of managing tasks within an AMP system according to some embodiments. Detailed Description In embedded applications such as vehicle systems, certain tasks are time critical and require predictable low-latency processing to maintain safe and reliable operation of the vehicle system. Real-time operating systems (RTOSs) may be used to provide more deterministic task execution and may run with minimal delay even on a less functional core. In some cases, the RTOS may run on a low power core of the AMP system, while higher power cores handle more computationally intensive tasks. Embodiments described herein relate to a standardized framework that provides task management to improve consistency of RTOS tasks with scheduling algorithms, which facilitates creation and execution of RTOS tasks, and may further support improved logging and implementation. In this way, the standardized framework enables embedded applications to execute in a deterministic manner, thereby increasing predictability of executing time-critical tasks. FIG. 1A illustrates an example vehicle 100. As shown in fig. 1A, a vehicle 100 has a plurality of external cameras 102 and one or more front displays 104. Each of these external cameras 102 may capture a particular view or perspective of the exterior of the vehicle 100. The images or videos captured by the external camera 102 may then be presented on one or more displays in the vehicle 100 (such as one or more front displays 104) for viewing by the driver. Referring to fig. 1B, the vehicle 100 may include a chassis 106 that includes a frame 108 that provides the primary structural member of the vehicle 100. The frame 108 may be formed from one or more beams or other structural members, or may be integral with the body of the vehicle (i.e., a unitary construction). In embodiments where the vehicle 100 is a Battery Electric Vehicle (BEV) or possibly a hybrid vehicle, the large battery 110 is mounted to the chassis 106 and may occupy a majority (e.g., at least 80%) of the area within the frame 108. For example, the battery 110 may store 100 kilowatt-hours (kWh) to 200 kWh. The battery 110 may be a lithium ion battery or other type of rechargeable battery. The cells may be substantially planar in shape. Power from the battery 110 may be supplied to one or more drive units 112. Each drive unit 112 may be formed by an electric motor and possibly a gear reduction drive. In some embodiments, there is a single drive unit 112 that drives either the front or rear wheels of the vehicle 100. In another embodiment, there are two drive units 112, each driving a front or rear wheel of the vehicle 100. In yet another embodiment, there are four drive units 112, each drive unit 112 driving one of the four wheels of the vehicle 100. Power from the battery 110 may be supplied to the drive unit 112 by one or more sets of power electronics 114. The power electronics 114 may include inverters configured to convert Direct Current (DC) from the battery 110 to Alternating Current (AC) that is supplied to a motor of the drive unit 112. The drive unit 112 is coupled to two or more hubs 116 to which the wheels may be mounted. Each hub 116 includes a corresponding brake 118, such as the illustrated disc brake. The drive unit 112 or other components may also provide regenerative braking. Each hub 116 is further coupled to the frame 108 by a suspension 120. Suspension 120 may include a metal or pneumatic spring for absorbing shock. The suspension 120 may be implemented as a pneumatic or hydraulic suspension capable of adjusting the elevation of the chassis 106 above ground relative to the support surface. Suspension 120 may include a damper, wherein a characteristic of the damper is fixed or electronically adjustable. In the embodiment of fig. 1B and in the discussion that follows, vehicle 100 is a battery electric vehicle. However, the systems and methods disclosed herein may be used with any type of vehicle, including vehicles powered by an Internal Combustion Engine (ICE), a hybrid powertrain