Vehicle control apparatus
First Claim
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1. A vehicle control apparatus comprising:
- a processor that includes a plurality of processor cores to execute tasks which control operations of a vehicle; and
a task allocation unit that allocates the tasks to the respective processor cores,wherein the task allocation unit acquires an execution order parameter describing an execution order of the task, an execution cycle parameter describing an execution cycle of the task, and a communication cost parameter describing a communication cost, which is required for data communication between two of the processor cores, and allocates the tasks to the respective processor cores in accordance with each description of the execution order parameter, the execution cycle parameter, and the communication cost parameter,the processor outputs an execution order log describing an order of the tasks executed by the respective processor cores, an execution cycle log describing a cycle of the task executed by the processor core, and a communication cost log describing a communication cost spent for data communication between the two processor cores,wherein the task allocation unit sets, for each of the tasks, a number of times that is acceptable for a control cycle of the task to not be completed without counting the task as having an error,wherein when there are a plurality of allocation candidates serving as candidates of the tasks allocable to the processor core in accordance with the execution order parameter, the task allocation unit allocates an allocation candidate having the shorter execution cycle among the allocation candidates more preferentially, andwherein when there are the plurality of allocation candidates and none of the communication cost of each of the allocation candidates is zero, the task allocation unit applies a greater weight on the communication cost of a candidate having a shorter execution cycle among the allocation candidates, and allocates the allocation candidate having a higher communication cost after being weighted more preferentially to the processor core.
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Abstract
Provided is a vehicle control apparatus with which it is possible to allocate programs to multiple cores so as to satisfy a deadline even when software programs having two or more control cycles are intermixed. The vehicle control apparatus pertaining to the present invention allocates tasks to processor cores in consideration of the execution order of the tasks, the execution cycles of the tasks, and the cost of communication between the processor cores.
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9 Claims
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1. A vehicle control apparatus comprising:
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a processor that includes a plurality of processor cores to execute tasks which control operations of a vehicle; and a task allocation unit that allocates the tasks to the respective processor cores, wherein the task allocation unit acquires an execution order parameter describing an execution order of the task, an execution cycle parameter describing an execution cycle of the task, and a communication cost parameter describing a communication cost, which is required for data communication between two of the processor cores, and allocates the tasks to the respective processor cores in accordance with each description of the execution order parameter, the execution cycle parameter, and the communication cost parameter, the processor outputs an execution order log describing an order of the tasks executed by the respective processor cores, an execution cycle log describing a cycle of the task executed by the processor core, and a communication cost log describing a communication cost spent for data communication between the two processor cores, wherein the task allocation unit sets, for each of the tasks, a number of times that is acceptable for a control cycle of the task to not be completed without counting the task as having an error, wherein when there are a plurality of allocation candidates serving as candidates of the tasks allocable to the processor core in accordance with the execution order parameter, the task allocation unit allocates an allocation candidate having the shorter execution cycle among the allocation candidates more preferentially, and wherein when there are the plurality of allocation candidates and none of the communication cost of each of the allocation candidates is zero, the task allocation unit applies a greater weight on the communication cost of a candidate having a shorter execution cycle among the allocation candidates, and allocates the allocation candidate having a higher communication cost after being weighted more preferentially to the processor core. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9)
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Specification
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Current AssigneeHitachi Astemo Ltd. (Hitachi, Ltd.)
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Original AssigneeHitachi Automotive Systems Limited (Hitachi, Ltd.)
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InventorsFukuda, Takeshi, Narisawa, Fumio, Ebina, Tomohito, Komatsu, Hiroaki
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Primary Examiner(s)Nguyen, Duy Khuong T
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Assistant Examiner(s)Headly, Melissa A
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Application NumberUS15/303,280Publication NumberTime in Patent Office1,840 DaysField of SearchNoneUS Class CurrentCPC Class CodesG06F 9/4881 Scheduling strategies for d...G06F 9/5038 considering the execution o...G06F 9/5066 Algorithms for mapping a pl...
