CN116755865A - Hybrid key system deployment method and device based on automobile embedded platform - Google Patents

Hybrid key system deployment method and device based on automobile embedded platform Download PDF

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Publication number
CN116755865A
CN116755865A CN202311021025.5A CN202311021025A CN116755865A CN 116755865 A CN116755865 A CN 116755865A CN 202311021025 A CN202311021025 A CN 202311021025A CN 116755865 A CN116755865 A CN 116755865A
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task
key
level
mode
tasks
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CN116755865B (en
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邹渊
王天予
张旭东
孙逢春
董玉刚
孙巍
孟逸豪
杨小龙
商一凡
张一伟
路潇然
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Beijing Institute of Technology BIT
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46—Multiprogramming arrangements
    • G06F9/48—Program initiating; Program switching, e.g. by interrupt
    • G06F9/4806—Task transfer initiation or dispatching
    • G06F9/4843—Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
    • G06F9/4881—Scheduling strategies for dispatcher, e.g. round robin, multi-level priority queues
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • G06F9/46—Multiprogramming arrangements
    • G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]
    • G06F9/5005—Allocation of resources, e.g. of the central processing unit [CPU] to service a request
    • G06F9/5027—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals
    • G06F9/5038—Allocation of resources, e.g. of the central processing unit [CPU] to service a request the resource being a machine, e.g. CPUs, Servers, Terminals considering the execution order of a plurality of tasks, e.g. taking priority or time dependency constraints into consideration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F2209/00—Indexing scheme relating to G06F9/00
    • G06F2209/48—Indexing scheme relating to G06F9/48
    • G06F2209/484—Precedence

Abstract

The application provides a hybrid key system deployment method and device based on an automobile embedded platform, and relates to the technical field of automobiles, wherein the method comprises the following steps: constructing an automobile embedded platform mixed key system model comprising four key levels and a scheduling strategy corresponding to the automobile embedded platform mixed key system model; respectively initializing a system mode and a task set; and according to a scheduling strategy, periodically detecting whether a task has a super budget action, switching a system mode when the task has the super budget action, determining the task to be demoted according to the task dependency relationship in the switched system mode, and performing demotion processing. The application can improve the safety and reliability of the vehicle hybrid key system.

Description

Hybrid key system deployment method and device based on automobile embedded platform
Technical Field
The application relates to the technical field of automobiles, in particular to a hybrid key system deployment method and device based on an automobile embedded platform.
Background
Hybrid critical systems refer to systems that integrate functional components with different levels of safety criticality on the same computing platform, with vehicles being typical hybrid critical systems.
In recent years, the academia carries out modeling and synthesis task set experiments on a vehicle hybrid key system at a theoretical layer. However, when modeling a hybrid critical system, the proposed strategy is often to discard or downgrade critical tasks without analyzing the coupling relationship between the tasks after the system mode is promoted, which may cause safety problems when applied to a vehicle.
The existing hybrid key theory, such as SMC (static mixed criticality, static hybrid key system), AMC (adaptive mixed criticality, adaptive hybrid key system), and the like, cannot consider the high functional safety requirement, the high real-time requirement and the high sensitivity requirement of the vehicle computing platform when being directly applied to the vehicle computing platform.
Disclosure of Invention
Based on the background technology, the application aims to provide a hybrid key system deployment method and device based on an automobile embedded platform, which can improve safety and reliability.
In order to achieve the above object, the present application provides the following solutions:
the application provides a hybrid key system deployment method based on an automobile embedded platform, which comprises the following steps:
constructing an automobile embedded platform mixed key system model comprising four key levels and a scheduling strategy corresponding to the automobile embedded platform mixed key system model; the automobile embedded platform hybrid key system model comprises a task set and a system mode; the system mode is an A mode, a B mode, a C mode or a D mode; the task set comprises n tasks; the key level corresponding to the task is an a key level, a b key level, a c key level or a d key level, wherein the b key level is higher than the a key level, the c key level is higher than the b key level, and the d key level is higher than the c key level; the highest system mode corresponding to the key-level task is A mode, the highest system mode corresponding to the key-level task is B mode, the highest system mode corresponding to the key-level task is C mode, and the highest system mode corresponding to the key-level task is D mode; the scheduling strategy comprises the steps of determining the highest system mode corresponding to a target task as a switched mode and a task executed by each system mode; the target task is a task with super budget behavior and highest key level; in the mode A, the tasks executed by the automobile embedded platform hybrid key system model are an a key-level task, a b key-level task, a c key-level task and a d key-level task; in the B mode, the tasks executed by the automobile embedded platform hybrid key system model are a B key-level task, a c key-level task, a d key-level task and an a key-level task which has a coupling relation with a higher key-level task; in the C mode, the tasks executed by the automobile embedded platform hybrid key system model are a C key-level task, a d key-level task, and an a key-level task and a b key-level task which are in coupling relation with higher key-level tasks; in the D mode, the tasks executed by the hybrid key system model of the automobile embedded platform are a D key-level task, an a key-level task, a b key-level task and a c key-level task which are in coupling relation with higher key-level tasks;
respectively initializing a system mode and a task set;
according to a scheduling strategy, periodically detecting whether a task has a super budget action, and when the task has the super budget action, switching a system mode and determining a task to be degraded according to a task dependency relationship in the switched system mode;
and performing degradation processing on the tasks needing degradation to obtain tasks executed by the automobile embedded platform hybrid key system model in the switched system mode.
The application also provides a hybrid key system deployment device based on the automobile embedded platform, which comprises:
the system comprises a model and a strategy determining module, wherein the model and strategy determining module is used for constructing an automobile embedded platform mixed key system model comprising four key levels and a scheduling strategy corresponding to the automobile embedded platform mixed key system model; the automobile embedded platform hybrid key system model comprises a task set and a system mode; the system mode is an A mode, a B mode, a C mode or a D mode; the task set comprises n tasks; the key level corresponding to the task is an a key level, a b key level, a c key level or a d key level, wherein the b key level is higher than the a key level, the c key level is higher than the b key level, and the d key level is higher than the c key level; the highest system mode corresponding to the key-level task is A mode, the highest system mode corresponding to the key-level task is B mode, the highest system mode corresponding to the key-level task is C mode, and the highest system mode corresponding to the key-level task is D mode; the scheduling strategy comprises the steps of determining the highest system mode corresponding to a target task as a switched mode and a task executed by each system mode; the target task is a task with super budget behavior and highest key level; in the mode A, the tasks executed by the automobile embedded platform hybrid key system model are an a key-level task, a b key-level task, a c key-level task and a d key-level task; in the B mode, the tasks executed by the automobile embedded platform hybrid key system model are a B key-level task, a c key-level task, a d key-level task and an a key-level task which has a coupling relation with a higher key-level task; in the C mode, the tasks executed by the automobile embedded platform hybrid key system model are a C key-level task, a d key-level task, and an a key-level task and a b key-level task which are in coupling relation with higher key-level tasks; in the D mode, the tasks executed by the hybrid key system model of the automobile embedded platform are a D key-level task, an a key-level task, a b key-level task and a c key-level task which are in coupling relation with higher key-level tasks;
the initialization module is used for respectively initializing the system mode and the task set;
the task degradation determining module is used for periodically detecting whether a task has a super budget action or not according to a scheduling strategy, and switching a system mode and determining a task to be degraded according to a task dependency relationship in the switched system mode when the task has the super budget action;
and the degradation processing module is used for carrying out degradation processing on tasks needing degradation to obtain tasks executed by the automobile embedded platform hybrid key system model in the switched system mode.
According to the specific embodiment provided by the application, the application discloses the following technical effects:
according to the application, when the automobile is actually used, the coupling relation between the input and the output of the tasks of different key stages is fully considered, only the low-safety key task which does not have operation influence on the high-safety key task is degraded, and the safety and the reliability are improved.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a hybrid key system deployment method based on an automobile embedded platform according to an embodiment of the present application;
fig. 2 is a block diagram of a hybrid key system deployment device based on an automobile embedded platform according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In order that the above-recited objects, features and advantages of the present application will become more readily apparent, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description.
Example 1
The embodiment of the application provides a hybrid key system deployment method based on an automobile embedded platform, which mainly comprises the following steps: the international functional safety standard ISO26262 is integrated into the consideration range, and an automobile embedded platform mixed key system model comprising four key levels is constructed; when the system mode is switched, the task which needs to be degraded is determined after the task dependency analysis instead of directly discarding or degrading the critical-level task which cannot be executed by the switched system mode, and then a flexible task degrading method is selected to degrade the task.
As shown in fig. 1, the hybrid key system deployment method based on the automobile embedded platform provided in this embodiment includes:
step 101: and constructing a scheduling strategy corresponding to the automobile embedded platform hybrid key system model comprising four key stages.
In this step, the hybrid key system model (hereinafter referred to as system model) of the automobile embedded platform includes a task set and a system mode. In particular, the system model may be represented using S,；/>represents a set of tasks, wherein,i.e. +.>Comprising n tasks; m represents a system mode, system mode->At any time t i The system mode M can only exist in +.>One of them.
In this step, the ith task，/>Represents the ith task->Is to say every +.>Time, task->An instance (job) is released, or, alternatively, every +.>Time, task->I.e. it is necessary to enter a ready state and to execute it once. Here, the release period of the task is a vector +.>The purpose is that: when task->When a task is decided to be demoted, it can be demoted in a manner that increases the task release period, even if it is performed less frequently. Therefore, when the demotion mode is not to increase the task release period>Can contain only a single value +.>Does not contain other values, i.e. +.>The method comprises the steps of carrying out a first treatment on the surface of the And when the demotion mode is to increase the task release period +.>，For tasks->The value of the extended release period after being degraded, there is +.>。
D i Representing the ith taskI.e. when a task enters a ready state, D must be added at the moment of the task ready state i Is performed within a certain period of time.
P i Representing the ith taskI.e. the basis of the order of execution of the tasks in the ready state.
L i Representing the ith taskKey level of task +.>I.e. the key level of a certain task can only be +.>The b key level is higher than the a key level, the c key level is higher than the b key level, and the d key level is higher than the c key level; the highest system mode corresponding to the key-level task is A mode, the highest system mode corresponding to the key-level task is B mode, the highest system mode corresponding to the key-level task is C mode, and the highest system mode corresponding to the key-level task is D mode.
Represents the ith task->Is a vector that is used to monitor the execution of a task, i.e. the net execution time of the task, should not exceed its execution budget value in the current system mode. For any task->There isRespectively represent->Execution budgets in four system modes.
Represents the ith task->The execution quality of the task is extended here to a vector with the purpose of: when task->Any decision that needs to be downgradedWhen the task is executed, the task execution quality can be degraded in a manner of reducing the task execution quality, namely, the task execution quality is executed with lower execution quality, so that the effect of reducing the occupied computing resources of a processor is achieved. Therefore, when the degradation mode is not to reduce the task execution quality>Can contain only a single value +.>Not involving other values, i.eThe method comprises the steps of carrying out a first treatment on the surface of the And when the downgrade mode is to reduce the task execution quality +.>，/>For tasks->Degraded execution quality characterization value, therefore +.>。
In this embodiment, the initialization mode of the system model is a mode, that is, m=a at the beginning of deployment. The scheduling strategy comprises the steps of determining the highest system mode corresponding to the target task as a switched mode and a task executed by each system mode; the target task is the task with super budget behavior and highest key level.
In the A mode, the tasks executed by the automobile embedded platform hybrid key system model are an a-key task, a b-key task, a c-key task and a d-key task.
In the B mode, the tasks executed by the automobile embedded platform hybrid key system model are a B-key-level task, a c-key-level task, a d-key-level task and an a-key-level task which are in coupling relation with higher-key-level tasks. In B mode, the a-critical task with coupling relation with the higher critical task is the a-critical task with output as B-critical task, c-critical task or d-critical task input.
In the C mode, the tasks executed by the automobile embedded platform hybrid key system model are a C key-level task, a d key-level task, and an a key-level task and a b key-level task which are in coupling relation with higher key-level tasks; in the C mode, the a-critical task with a coupling relation with the higher-critical task is an a-critical task with an output of C-critical task or d-critical task input; the b-critical tasks having a coupling relationship with the higher critical tasks are b-critical tasks whose outputs are either c-critical tasks or d-critical tasks inputs.
In the D mode, the tasks executed by the hybrid key system model of the automobile embedded platform are a D key-level task, an a key-level task, a b key-level task and a c key-level task which are in coupling relation with higher key-level tasks; in the D mode, the a-critical task with a coupling relation with the higher-critical task is an a-critical task with an output input of the D-critical task; the b-critical task with coupling relation with the higher critical task is the b-critical task with output as d-critical task input; the c-critical tasks having a coupling relationship with the higher critical tasks are c-critical tasks whose outputs are the d-critical task inputs.
Step 102: and initializing the system mode and the task set respectively.
In the step, the hybrid key system model of the automobile embedded platform is initialized in the following stepsA mode. Each task in the set of tasks will be parameter initialized as follows:
initialized to->，/>Initialized to->，D i ，P i ，L i Then the initialization is performed at a given initial value.
Step 103: and according to a scheduling strategy, periodically detecting whether a task has a super budget action, and when the task has the super budget action, switching a system mode and determining a task to be degraded according to a task dependency relationship in the switched system mode.
Step 103 specifically includes:
firstly, determining the actual execution time of a marking task according to a scheduling strategy; the marking task is a task executed by the automobile embedded platform hybrid key system model in the current system mode; the current system mode is an A mode, a B mode, a C mode or a D mode. Secondly, judging any marking task; the judging operation is to judge whether the actual execution time of the marking task exceeds the execution budget of the marking task. Then, when the actual execution time of the marking task exceeds the execution budget of the marking task, determining a target marking task; the target marking task is the marking task with super budget behavior and highest key level. And then, determining the highest system mode corresponding to the target marking task as the switched system mode according to the scheduling strategy and the target marking task. Then, determining a list to be analyzed and a task list without degradation according to a scheduling strategy; the to-be-analyzed list comprises a plurality of to-be-analyzed tasks, and the key level of the to-be-analyzed tasks is lower than that of the target marking task; the non-demotion task list comprises a plurality of non-demotion tasks, and the key level of the non-demotion tasks is equal to or higher than the key level of the target marking task; and finally, determining the tasks which are not degraded in the list to be analyzed and the tasks which need to be degraded according to the dependency relationship between the tasks in the list to be analyzed and the tasks in the list of the tasks which are not degraded, and adding the tasks which are not degraded in the list to be analyzed to the list of the tasks which are not degraded.
One example is: firstly, for each task, the actual execution time of the task is monitored in real time according to the set detection period, and whether the task has the super-execution budget action is monitored in real time. For example, when the actual execution time of each task does not exceed its execution budget in the A-mode, the system model does not undergo mode switching, i.e. satisfiesWhen the system model does not switch modes, E i Representative task->Is>Representative task->Execution budget in a mode.
And secondly, determining a system mode switching value according to the key level of the task with the super execution budget behavior. For example, when any task with critical level higher than the critical level a generates super-budget action, the system mode is switched to the highest system mode corresponding to the task generating super-budget action, namelyWhen in use, then->The corresponding highest system mode (e.g. here if +.>Then the system mode is lifted to the C mode).
And then analyzing the task dependency relationship to decide the task needing degradation.
First, after screening out the system mode switching, the task with the key level lower than the switched system mode is selectedPlacing these tasks in the queue to be analyzed +.>Tasks higher than or equal to the critical level of the switched system mode +.>Put into queue +.>. Let the queue of the tasks not degraded be +.>Will->Tasks within are first added to +.>Is a kind of medium.
Second, the task is subjected to dependency analysis. Will beTraversing the tasks one by one, checking whether the following conditions exist: />Task in->The input of (1) comprises->Is a certain task->Output of (1), or->Task in->The input depends on->Is a certain task->Is provided. If present, will meet the above conditionsTask of (1)>Added to->In->Delete task +.>。
Third, when the traversal is completed, the user,the rest tasks are tasks needing degradation.
Step 104: and performing degradation processing on tasks needing degradation.
First, according to the actual needs, a degradation mode is selected. The present application provides two possible degradation modes: one is to increase the task release period, i.e. decrease the frequency of task execution; another approach is to reduce the quality of task execution, allowing tasks to run with code of lower execution quality. Then, the current running instance of the task to be demoted is terminated, and a new demoted task instance is released.
Example two
The embodiment of the application provides a hybrid key system deployment method based on an automobile embedded platform, which comprises the following steps:
step one: and constructing an automobile embedded platform hybrid key system model comprising four key stages.
In a second embodiment, an automobile inlay including four key stages is first constructedThe system model S comprises a task set modelAnd system mode M, namely +.>。
Representing a hybrid critical task set of an automobile embedded platform, and M represents a system mode.
I.e. +.>Comprising 6 tasks, the parameters for each task are given in table 1.
TABLE 1 task parameter Table
Each task。
Wherein, the liquid crystal display device comprises a liquid crystal display device,representative task->Is to say every +.>Time, task->An instance (job) is released, or, alternatively, every +.>Time, the task needs to enter a ready state to execute once. Here, the release period of the task is a vector +.>The purpose is that: when task->When a task is decided to be demoted, it can be demoted in a manner that increases the task release period, even if it is performed less frequently. In embodiment two, the manner of degrading the task is to increase the release period, so here +.>，/>For tasks->The value of the extended release period after being degraded is +.>. It should be noted that, for the task of the highest key level (in embodiment II +.>) Is not degraded in any case, so for +.>There is->Or can be understood as for +.>，/>At this time->Not a vector.
D i Representative taskI.e. when a task releases an instance, after entering the ready state, D must be added at that moment i Is performed within a certain period of time.
Representative task->Is a vector that is used to monitor the execution of a task, i.e. the net execution time of the task, should not exceed its execution budget value in the current system mode. For any task->There isRespectively represent->Execution budgets in four system modes.
P i Representative taskA larger priority value represents a higher priority, i.e. a basis for the order of execution of ready tasks. In the second embodiment, the allocation of the priority of each task is given according to the reverse order of the relative deadlines, that is: the greater the relative deadline, the lower the priority.
L i Representing the key level of the task, and for an automobile embedded platform hybrid key system with four key levels, the key level of the taskI.e. the key level of a certain task can only be +.>One of them.
Representative task->The execution quality of the task is not extended by one vector here, because in the second embodiment, degradation is realized by increasing the task release period, only the release period is extended to a vector, and the execution quality is not required to be extended to a vector.
In the second embodiment, there is providedThe input depends on->Is provided.
M represents a system mode, and for four key-level automobile embedded platform hybrid key systems, the system modeAt any time->The system mode M can only exist in +.>One of them. When->And when the system is initialized, the system is initialized to be in the A mode.
Step two: and constructing a scheduling strategy of the hybrid key system model.
The hybrid critical system will initialize in A-mode, i.e., with initial deployment. When the actual execution time of each task does not exceed its budget in the a mode, the system does not switch modes. I.e. satisfy->When the system does not switch modes, wherein +.>Representative task->Is>Representative task->Execution budget in a mode. In the second embodiment, the scheduling rule uses preemptive priority scheduling, that is, the execution sequence of the ready task instance is sequentially executed from high to low according to the priority, when the task with low priority is executing and the task with high priority enters the ready state at the same time, the task with high priority will preempt the execution right; if the ready tasks have the same key level, the ready tasks having the same key level will obtain the execution right using the rule of time-sliced time-division execution (Round Robin).
When any task with critical level higher than the critical level A generates super-budget action, the system mode is switched to the critical level of the task generating super-budget action, namelyWhen in use, then->. After the system mode is switched, all tasks lower than the key level of the switched system mode enter a to-be-analyzed list, and a to-be-scheduled device decides whether to be degraded or not. As in embodiment two, if task +.>The actual execution time of a certain instance of (a) exceeds its budget in a mode +.>I.e. 100->When the system is switched, the mode is switched by +.>Tasks of key level C, where all key levels are lower than the switched system mode +.>The pending list will be entered and the pending scheduler decides whether it is downgraded.
Step three: and initializing a system mode and initializing a task set.
The hybrid critical system will initialize in a mode. Each task in the set of tasks initializes the parameters given in table 2.
Table 2 parameters of all tasks after initialization
Step four: and detecting whether the task exceeds the budget or not periodically.
For each task, its actual execution time is monitored in real time. According to the set detection period, monitoring the execution condition of the task, and monitoring whether the task has the super-execution budget behavior in real time, namely, monitoring whether the task has the super-execution budget behavior. If the task has the action of exceeding the execution budget, the system mode switching occurs. In the second embodiment, the detection period is 1 millisecond, that is, 1000 times in 1 second.
Step five: and determining a system mode switching value according to the key level of the task with the super-execution budget action.
When any critical level is higher thanWhen the task of the critical level generates super budget action, the system mode is switched to the critical level of the task generating super budget action, namely +.>When in use, then->. If task->The actual execution time of a certain instance of (a) exceeds its budget in a mode +.>I.e. 100->At this time, a mode switch occurs in the system, M is defined by m=a->M=C。
Step six: and performing task dependency analysis to decide tasks needing degradation.
First, after switching system mode, the task lower than the key level of the switched system mode is screened outPlacing these tasks in the queue to be analyzed +.>Tasks higher than or equal to the critical level of the switched system mode +.>Put into queue +.>. Let the queue of the tasks not degraded be +.>Will->Tasks within are first added to +.>Is a kind of medium.
And secondly, carrying out dependency analysis on the task. Will beTraversing the tasks one by one, checking whether the following conditions exist: />Task in->The input of (1) comprises->Is a certain task->Output of (1), or->Task in->The input depends on->Is a certain task->Is provided.
If present, will meet the above conditionsTask of (1)>Added to->In (1), and inDelete task +.>。
When the traversal has been completed, the user can,the rest tasks are tasks needing degradation.
When the above procedure is applied to the second embodiment, the following procedure is adopted:
first, after the system mode is switched to m=c, the task of key level C lower than the switched system mode is screened outPlacing these tasks in the queue to be analyzed +.>Namely +.>The method comprises the steps of carrying out a first treatment on the surface of the Tasks higher than or equal to the critical level of the switched system mode->Put into queue +.>Namely. In addition to this, there is also a need to add->Tasks within are first added to +.>In the middle, therefore。
And secondly, carrying out dependency analysis on the task. Will beTraversing the tasks one by one, checking whether the following conditions exist: />Task in->The input of (1) comprises->Is a certain task->Output of (1), or->Task in->The input depends on->Is a certain task->Is provided. If present, will meet the above conditionsTask of (1)>Added to->In->In the queueDeletion task->。
Through traversal, in embodiment two, due toTask in->The input depends on->Task in->So will->Added to->And will->From->Is moved out of the way, then，/>. Now->Task left in->I.e. tasks that need to be downgraded.
Step seven: and selecting a degradation mode to degrade tasks needing degradation.
In embodiment two, the determined downgrade is to increase the task release period.Thus, when determining tasks requiring degradationThereafter, the release period thereof is updated to an enlarged release period of 800 ms and 650 ms; meanwhile, since the system mode is updated to m=c, the budget of all tasks is made +.>Become->. Table 3 is the parameter case for all tasks after degradation has occurred.
Table 3 parameters of all tasks after demotion
The application discloses a hybrid key system deployment method based on an automobile embedded platform, which comprises the steps of firstly, referring to four functional security levels specified in ISO26262 on modeling; secondly, when the automobile is actually used, the coupling relation between the input and the output of the tasks of different key stages is fully considered, and only the low-safety-critical tasks which do not have operation influence on the high-safety-critical tasks are degraded; finally, a flexible degradation mode is provided, and the problem of system overall performance reduction caused by a strategy of directly discarding low-safety-critical tasks when the traditional hybrid key theory is applied to a vehicle system is solved. In conclusion, the implementation of the method has the beneficial effects of high safety, high real-time performance and high efficiency.
Example III
In order to execute the corresponding method of the above embodiment to achieve the corresponding functions and technical effects, a hybrid key system deployment device based on an automobile embedded platform is provided below.
As shown in fig. 2, a hybrid critical system deployment device based on an automobile embedded platform provided by an embodiment of the present application includes:
the model and policy determining module 201 is configured to construct an automobile embedded platform hybrid key system model including four key levels and a scheduling policy corresponding to the automobile embedded platform hybrid key system model; the automobile embedded platform hybrid key system model comprises a task set and a system mode; the system mode is an A mode, a B mode, a C mode or a D mode; the task set comprises n tasks; the key level corresponding to the task is an a key level, a b key level, a c key level or a d key level, wherein the b key level is higher than the a key level, the c key level is higher than the b key level, and the d key level is higher than the c key level; the highest system mode corresponding to the key-level task is A mode, the highest system mode corresponding to the key-level task is B mode, the highest system mode corresponding to the key-level task is C mode, and the highest system mode corresponding to the key-level task is D mode; the scheduling strategy comprises the steps of determining the highest system mode corresponding to a target task as a switched mode and a task executed by each system mode; the target task is a task with super budget behavior and highest key level; in the mode A, the tasks executed by the automobile embedded platform hybrid key system model are an a key-level task, a b key-level task, a c key-level task and a d key-level task; in the B mode, the tasks executed by the automobile embedded platform hybrid key system model are a B key-level task, a c key-level task, a d key-level task and an a key-level task which has a coupling relation with a higher key-level task; in the C mode, the tasks executed by the automobile embedded platform hybrid key system model are a C key-level task, a d key-level task, and an a key-level task and a b key-level task which are in coupling relation with higher key-level tasks; in the D mode, the tasks executed by the automobile embedded platform hybrid critical system model are a D critical task, an a critical task, a b critical task and a c critical task which are in coupling relation with higher critical tasks.
An initialization module 202 is configured to initialize the system mode and the task set respectively.
The degradation task determining module 203 is configured to periodically detect whether a task has a super budget behavior according to a scheduling policy, and when the task has the super budget behavior, switch a system mode and determine a task to be degraded according to a task dependency relationship in the switched system mode.
And the degradation processing module 204 is configured to perform degradation processing on a task to be degraded, so as to obtain a task executed by the hybrid key system model of the embedded platform of the automobile in the switched system mode.
Compared with the prior art, the application has the following beneficial effects:
the application discloses a hybrid key system deployment method and device based on an automobile embedded platform; first, four functional security levels specified in the international functional security standard ISO26262 are referenced in modeling; secondly, fully considering the coupling relation between input and output of tasks of different key stages when the automobile is actually used, only degrading low-safety-critical tasks which have no operation influence on the high-safety-critical tasks; finally, a flexible degradation mode is provided, and the problem of system overall performance reduction caused by a strategy of directly discarding low-safety-critical tasks when the traditional hybrid key theory is applied to a vehicle system is solved. In conclusion, the method has the beneficial effects of high safety, high real-time performance and high efficiency.
In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other. For the system disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant points refer to the description of the method section.
The principles and embodiments of the present application have been described herein with reference to specific examples, the description of which is intended only to assist in understanding the methods of the present application and the core ideas thereof; also, it is within the scope of the present application to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the application.

Claims (8)

1. The hybrid key system deployment method based on the automobile embedded platform is characterized by comprising the following steps of:
constructing an automobile embedded platform mixed key system model comprising four key levels and a scheduling strategy corresponding to the automobile embedded platform mixed key system model; the automobile embedded platform hybrid key system model comprises a task set and a system mode; the system mode is an A mode, a B mode, a C mode or a D mode; the task set comprises n tasks; the key level corresponding to the task is an a key level, a b key level, a c key level or a d key level, wherein the b key level is higher than the a key level, the c key level is higher than the b key level, and the d key level is higher than the c key level; the highest system mode corresponding to the key-level task is A mode, the highest system mode corresponding to the key-level task is B mode, the highest system mode corresponding to the key-level task is C mode, and the highest system mode corresponding to the key-level task is D mode; the scheduling strategy comprises the steps of determining the highest system mode corresponding to a target task as a switched mode and a task executed by each system mode; the target task is a task with super budget behavior and highest key level; in the mode A, the tasks executed by the automobile embedded platform hybrid key system model are an a key-level task, a b key-level task, a c key-level task and a d key-level task; in the B mode, the tasks executed by the automobile embedded platform hybrid key system model are a B key-level task, a c key-level task, a d key-level task and an a key-level task which has a coupling relation with a higher key-level task; in the C mode, the tasks executed by the automobile embedded platform hybrid key system model are a C key-level task, a d key-level task, and an a key-level task and a b key-level task which are in coupling relation with higher key-level tasks; in the D mode, the tasks executed by the hybrid key system model of the automobile embedded platform are a D key-level task, an a key-level task, a b key-level task and a c key-level task which are in coupling relation with higher key-level tasks;
respectively initializing a system mode and a task set;
according to a scheduling strategy, periodically detecting whether a task has a super budget action, and when the task has the super budget action, switching a system mode and determining a task to be degraded according to a task dependency relationship in the switched system mode;
and performing degradation processing on the tasks needing degradation to obtain tasks executed by the automobile embedded platform hybrid key system model in the switched system mode.
2. The hybrid critical system deployment method based on the automobile embedded platform as claimed in claim 1, wherein the ith task ；/>Represents the ith task->Release period D of (2) i Represents the ith task->Is a relative deadline of (2); />Represents the ith task->Execution budget of P i Represents the ith task->Priority of L i Represents the ith task->Key level of->Represents the ith task->Is performed by the execution quality of the program.
3. The hybrid critical system deployment method based on the automobile embedded platform according to claim 1, wherein an initialization mode of the automobile embedded platform hybrid critical system model is an a mode.
4. The hybrid critical system deployment method based on the automobile embedded platform according to claim 2, wherein the method is characterized by periodically detecting whether the task has the super budget behavior, and specifically comprises the following steps:
determining the actual execution time of the marking task according to the scheduling strategy; the marking task is a task executed by the automobile embedded platform hybrid key system model in the current system mode; the current system mode is an A mode, a B mode, a C mode or a D mode;
executing judgment operation on any marking task; the judging operation is to judge whether the actual execution time of the marking task exceeds the execution budget of the marking task.
5. The hybrid critical system deployment method based on the automobile embedded platform according to claim 4, wherein when a task has a super budget behavior, the system mode switching is performed according to the scheduling policy, and the method specifically comprises:
when the actual execution time of the marking task exceeds the execution budget of the marking task, determining a target marking task; the target marking task is a marking task with super budget behavior and highest key level;
and determining the highest system mode corresponding to the target marking task as the switched system mode according to the scheduling strategy and the target marking task.
6. The hybrid critical system deployment method based on the automobile embedded platform as claimed in claim 5, wherein in the switched system mode, determining the task to be demoted according to the task dependency relationship, specifically comprising:
determining a list to be analyzed and a task list without degradation according to a scheduling strategy; the to-be-analyzed list comprises a plurality of to-be-analyzed tasks, and the key level of the to-be-analyzed tasks is lower than that of the target marking task; the non-demotion task list comprises a plurality of non-demotion tasks, and the key level of the non-demotion tasks is equal to or higher than the key level of the target marking task;
according to the dependency relationship between the tasks in the to-be-analyzed list and the tasks in the non-degraded task list, determining the non-degraded tasks and the tasks needing to be degraded in the to-be-analyzed list, and adding the non-degraded tasks in the to-be-analyzed list to the non-degraded task list.
7. The hybrid critical system deployment method based on the automobile embedded platform according to claim 2, wherein the degrading process is performed on the task needing degrading, and specifically comprises the following steps:
and performing degradation processing on the task needing degradation by adopting a mode of increasing the task release period or a mode of reducing the task execution quality.
8. A hybrid critical system deployment device based on an automotive embedded platform, comprising:
the system comprises a model and a strategy determining module, wherein the model and strategy determining module is used for constructing an automobile embedded platform mixed key system model comprising four key levels and a scheduling strategy corresponding to the automobile embedded platform mixed key system model; the automobile embedded platform hybrid key system model comprises a task set and a system mode; the system mode is an A mode, a B mode, a C mode or a D mode; the task set comprises n tasks; the key level corresponding to the task is an a key level, a b key level, a c key level or a d key level, wherein the b key level is higher than the a key level, the c key level is higher than the b key level, and the d key level is higher than the c key level; the highest system mode corresponding to the key-level task is A mode, the highest system mode corresponding to the key-level task is B mode, the highest system mode corresponding to the key-level task is C mode, and the highest system mode corresponding to the key-level task is D mode; the scheduling strategy comprises the steps of determining the highest system mode corresponding to a target task as a switched mode and a task executed by each system mode; the target task is a task with super budget behavior and highest key level; in the mode A, the tasks executed by the automobile embedded platform hybrid key system model are an a key-level task, a b key-level task, a c key-level task and a d key-level task; in the B mode, the tasks executed by the automobile embedded platform hybrid key system model are a B key-level task, a c key-level task, a d key-level task and an a key-level task which has a coupling relation with a higher key-level task; in the C mode, the tasks executed by the automobile embedded platform hybrid key system model are a C key-level task, a d key-level task, and an a key-level task and a b key-level task which are in coupling relation with higher key-level tasks; in the D mode, the tasks executed by the hybrid key system model of the automobile embedded platform are a D key-level task, an a key-level task, a b key-level task and a c key-level task which are in coupling relation with higher key-level tasks;
the initialization module is used for respectively initializing the system mode and the task set;
the task degradation determining module is used for periodically detecting whether a task has a super budget action or not according to a scheduling strategy, and switching a system mode and determining a task to be degraded according to a task dependency relationship in the switched system mode when the task has the super budget action;
and the degradation processing module is used for carrying out degradation processing on tasks needing degradation to obtain tasks executed by the automobile embedded platform hybrid key system model in the switched system mode.
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