KR20230076494A - Apparatus and method for reallocating real-time operation task of mobile radar with complex sensor - Google Patents

Abstract

According to various embodiments of the present invention, real-time usage per CPU core of the mobile radar is measured by applying an apparatus and method for reassigning real-time calculation tasks of a complex sensor mobile radar, and a monitoring period for each CPU core is determined based on the measured real-time usage. By reassigning computational tasks that are variable and assigned to CPU cores based on an algorithm, real-time performance can be maintained even if a sudden increase in computation occurs in a complex multi-sensor mobile radar environment with many computations.

Description

APPARATUS AND METHOD FOR REALLOCATING REAL-TIME OPERATION TASK OF MOBILE RADAR WITH COMPLEX SENSOR}

The present invention relates to an apparatus and method for reassigning real-time calculation tasks of a multi-sensor mobile radar, and more particularly, to measuring usage of a CPU core of a mobile radar including a complex sensor and reallocating the calculation task allocated to the CPU core. It relates to an apparatus and method for doing.

A mobile radar including a complex sensor searches for a target by acquiring information on a target or a target candidate by searching a specific part, and precisely tracks the target to obtain target information such as a target distance and a target angle. Complex sensor mobile radar uses two or more sensors with different characteristics, such as an RF sensor and an optical sensor, to obtain target information and perform calculations.

The raw information of the target received through the complex sensor is obtained as meaningful information such as distance and angle through the entire signal processing process including calculation in software after performing basic signal processing in hardware. Hardware data processing can be performed in each independent hardware, but in the case of software calculation, individual calculation and integration calculation of the raw information acquired by each sensor must be performed within a limited signal processing cycle that is generally fixed and used, so a single sensor performs more operations than In order to efficiently use calculations within a limited time (or signal processing period), software developers first divide calculations necessary for mobile radar operation into task units in advance, and then design CPU core arrangements for each task. Using the scheduling of commonly used commercial OS, tasks are automatically allocated to CPU cores based on the priority set by the developer, or the developer forcibly allocates them to CPU cores if necessary.

Compared to general single-sensor mobile radars, multi-sensor mobile radar requires a lot of calculations to extract target information, including data fusion for each sensor. may increase over time.

In this case, the occupancy rate of a specific CPU core may increase and the execution of low-priority computational tasks may be delayed. As a result, certain tasks may not be processed during the signal processing cycle, or the execution order of tasks designed during development may change. It cannot smoothly perform the functions required by , and in severe cases, real-time performance of mobile radar calculation may be broken.

In order to prevent damage to real-time property, the occupancy of CPU cores must be monitored in real time and, if necessary, calculation tasks must be reallocated. However, there is a problem in that there is no algorithm for reallocating calculation tasks.

Republic of Korea Patent Registration No. 10-2182295 (2020.11.18.)

An object to be achieved by the present invention is to be mounted on a mobile radar including a complex sensor, measure the real-time usage per CPU core of the mobile radar, vary the monitoring cycle for each CPU core based on the measured real-time usage, and allocate it to the CPU core. It is an object of the present invention to provide an apparatus and method for reassigning real-time computational tasks of a multi-sensor mobile radar, which reallocates calculated computational tasks based on a predetermined algorithm.

Other non-specified objects of the present invention may be additionally considered within the scope that can be easily inferred from the following detailed description and effects thereof.

In order to achieve the above object, an apparatus for reassigning real-time calculation tasks mounted on a mobile radar including a complex sensor according to an embodiment of the present invention is generated as many as the number of CPU cores of the mobile radar, and the task format is generated in each of the CPU cores. a plurality of usage monitoring units that are executed and monitor usage of the CPU core according to a monitoring period; a usage analysis unit for analyzing the usage of the CPU cores acquired through the usage monitoring unit for each CPU core; Based on the result analyzed by the usage analyzer, a monitoring control unit for controlling the monitoring period for each CPU core for each CPU core; a task management unit that obtains task information of calculation tasks generated as many as the number of CPU cores of the mobile radar and allocated to the CPU cores; and a scheduling unit for reassigning an operation task allocated to the CPU core based on the monitoring period and the task information controlled through the monitoring control unit.

Here, the usage monitoring unit measures the maximum number of operations per second of the CPU core at the beginning of operation, is set to the lowest priority, and the CPU core at a time when other tasks do not occupy the CPU core according to the monitoring period. It occupies and measures the number of operations per second in an idle state.

Here, the usage monitoring unit repeatedly measures the number of operations per second for a preset number of times at a preset time interval at the beginning of the operation, obtains the largest value among the measured number of operations per second as the maximum number of operations per second, and enters an idle state. The number of operations per second is repeatedly measured for a preset number of times at a preset time interval, and the largest value among the measured number of operations per second is obtained as the number of operations per second in an idle state.

Here, the usage analysis unit analyzes the usage of the CPU core for each CPU core based on the maximum number of operations per second provided from the plurality of usage monitoring units and the number of operations per second in the idle state. .

Here, the monitoring control unit updates the monitoring period for each CPU core based on the usage amount of the CPU core for each CPU core provided from the usage analysis unit, and sets the updated monitoring period for each CPU core to a plurality of times. It is characterized in that it is provided to the usage monitoring unit of the dog.

Here, the monitoring control unit, if the usage of the CPU cores provided from the usage analysis unit is greater than a preset CPU core usage threshold, increases the number of times the CPU core usage exceeds by one, and initializes the number of stabilized CPU core usage to 0, A reduction coefficient is obtained based on the CPU core usage, the CPU core usage threshold, and the CPU core usage exceeding number, and if the CPU core usage is less than or equal to the CPU core usage threshold, the CPU core usage exceeding number is Initialize to 0, increase the CPU core usage stabilization count by one, and if the CPU core usage stabilization count is greater than a preset stabilization threshold, change the reduction coefficient to 1/2 of the existing reduction coefficient, and change the CPU core usage count to 1/2 of the existing reduction coefficient. If the stabilization number is less than or equal to the stability threshold, the decrement coefficient is maintained as the existing decrement coefficient; if the decrease coefficient is less than or equal to 1, the monitoring period is updated to a preset initial monitoring period, and the decrement factor is 1 greater than, the monitoring period is updated to a monitoring period obtained by multiplying the previous monitoring period by 1/the reduction factor, and the updated monitoring period is greater than or equal to the preset minimum monitoring period and less than or equal to the initial monitoring period. characterized by

Here, in the scheduling unit, when the monitoring period updated through the monitoring control unit coincides with the minimum monitoring period, the number of calculation tasks allocated to the CPU cores corresponding to the updated monitoring period is greater than a preset standard. In this case, among the calculation tasks allocated to the CPU core, at least one calculation task is reassigned to another CPU core in consideration of priority, and the number of calculation tasks allocated to the CPU core corresponding to the updated monitoring period is set in advance. When it is less than one criterion, the CPU core corresponding to the monitoring period is characterized in that the assigned calculation task is occupied.

Here, the scheduling unit, when the number of calculation tasks allocated to the CPU core corresponding to the monitoring period to be updated is greater than a preset reference, based on the usage of the CPU core obtained through the usage monitoring unit The operation task having the lowest priority may be allocated to a CPU core having the lowest usage of the CPU core.

Here, the scheduling unit, when there are a plurality of CPU cores with the smallest usage of the CPU cores, assigns the priority to the CPU core with the smallest number of allocated calculation tasks among the CPU cores with the smallest usage of the plurality of CPU cores. It is characterized by assigning the lowest computational task.

In order to achieve the above object, it is mounted on a mobile radar including a composite sensor according to an embodiment of the present invention, and monitors a plurality of usage generated by the number of CPU cores of the mobile radar and executed in the form of a task in each of the CPU cores. A real-time calculation task reallocation method performed by a real-time calculation task reassignment device including a unit, a usage analysis unit, a monitoring control unit, a task management unit generated by the number of CPU cores of the mobile radar, and a scheduling unit, wherein the usage monitoring unit performs a monitoring period Monitoring the usage of the CPU core according to; analyzing, by the usage analysis unit, the usage amount of the CPU core obtained through the usage monitoring unit for each CPU core; Controlling, by the monitoring control unit, the monitoring period for each CPU core for each CPU core based on a result analyzed through the usage analysis unit; obtaining, by the task management unit, task information of an arithmetic task assigned to the CPU core; and re-assigning, by the scheduling unit, an operation task allocated to the CPU core based on the monitoring period controlled by the monitoring control unit and the task information obtained by the task management unit.

Here, in the step of monitoring the usage of the CPU core, the usage monitoring unit measures the maximum number of operations per second of the CPU core at the beginning of operation, sets it to the lowest priority, and other tasks are performed according to the monitoring period. It is characterized in that the number of operations per second is measured in an idle state by occupying the CPU core during a time when the CPU core is not occupied.

Here, in the step of controlling the monitoring period for each CPU core, the monitoring control unit updates the monitoring period for each CPU core based on the usage amount of the CPU core for each CPU core provided from the usage analysis unit. and providing the monitoring period updated for each CPU core to a plurality of usage monitors.

A computer program according to an embodiment of the present invention for achieving the above object is stored in a computer-readable recording medium and executes any one of the real-time calculation task reassignment methods of the multi-sensor mobile radar on a computer.

As described above, according to an embodiment of the present invention, by applying the real-time operation task reassignment apparatus and method of the multi-sensor mobile radar, it is mounted on the mobile radar including the multi-sensor, and real-time usage per CPU core of the mobile radar is reduced. It is possible to measure, change the monitoring cycle for each CPU core based on the measured real-time usage, and reallocate calculation tasks assigned to the CPU core based on a predetermined algorithm.

Even if the effects are not explicitly mentioned here, the effects described in the following specification expected by the technical features of the present invention and their provisional effects are treated as described in the specification of the present invention.

1 is a block diagram illustrating an apparatus for reassigning real-time calculation tasks of a multi-sensor mobile radar according to an embodiment of the present invention.
FIG. 2 is a diagram for explaining an operation process of the real-time calculation task reassignment apparatus shown in FIG. 1 .
FIG. 3 is a diagram for explaining the operation process of the usage monitoring unit shown in FIG. 1. FIG. 3 (a) shows an example of a CPU core in which the usage monitoring unit is executed, and FIG. 3 (b) is monitoring the usage monitoring unit. It is a drawing for explaining the operation.
4 is a diagram for explaining the operation process of the task management unit shown in FIG. 1. FIG. 4(a) shows an example of a CPU core executed by the task management unit, and FIG. 4(b) shows tasks of the task management unit. It is a diagram for explaining an information acquisition operation.
5(a) shows an example of a CPU core in which a task management unit is executed, and FIG. 5(b) is a diagram for explaining task information stored in a database.
6 is a flowchart illustrating a real-time operation task reallocation method of a multi-sensor mobile radar according to an embodiment of the present invention.
FIG. 7 is a flowchart for explaining detailed steps of the monitoring step shown in FIG. 6 .
FIG. 8 is a flowchart for explaining detailed steps of the usage analysis step shown in FIG. 6 .
FIG. 9 is a flowchart for explaining detailed steps of the monitoring period control step shown in FIG. 6 .
FIG. 10 is a flowchart for explaining detailed steps of the calculation task reassignment step shown in FIG. 6 .

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention, and methods for achieving them, will become clear with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms, only the present embodiments make the disclosure of the present invention complete, and the common knowledge in the art to which the present invention belongs It is provided to fully inform the holder of the scope of the invention, and the present invention is only defined by the scope of the claims. Like reference numbers designate like elements throughout the specification. Unless otherwise defined, all terms (including technical and scientific terms) used in this specification may be used in a meaning commonly understood by those of ordinary skill in the art to which the present invention belongs. In addition, terms defined in commonly used dictionaries are not interpreted ideally or excessively unless explicitly specifically defined. Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention, and singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "include" or "have" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded. Terms including ordinal numbers such as second and first may be used to describe various components, but the components are not limited by the terms. These terms are only used for the purpose of distinguishing one component from another. For example, a second element may be termed a first element, and similarly, a first element may be termed a second element, without departing from the scope of the present invention. The terms and/or include any combination of a plurality of related recited items or any of a plurality of related recited items.

In this specification, identification codes (eg, a, b, c, etc.) for each step are used for convenience of explanation, and identification codes do not describe the order of each step, and each step is clearly Unless a specific order is specified, it may occur in a different order from the specified order. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

In this specification, expressions such as "has", "may have", "includes" or "may include" indicate the existence of a corresponding feature (eg, numerical value, function, operation, or component such as a part). indicated, and does not preclude the presence of additional features.

In addition, the term '~unit' described in this specification may mean software or a hardware component such as a field-programmable gate array (FPGA) or ASIC, and '~unit' performs certain roles. However, '~ part' is not limited to software or hardware. '~bu' may be configured to be in an addressable storage medium and may be configured to reproduce one or more processors. Therefore, as an example, '~unit' refers to components such as software components, object-oriented software components, class components, and task components, processes, functions, properties, and procedures. , subroutines, segments of program code, drivers, firmware, microcode, circuitry, data structures and variables. Functions provided within components and '~units' may be combined into smaller numbers of components and '~units' or further separated into additional components and '~units'.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, various embodiments of an apparatus and method for reassigning real-time calculation tasks of a multi-sensor mobile radar according to the present invention will be described in detail with reference to the accompanying drawings.

First, with reference to FIGS. 1 to 5 , an apparatus for reassigning real-time calculation tasks of a multi-sensor mobile radar according to an embodiment of the present invention will be described.

1 is a block diagram illustrating an apparatus for reassigning real-time calculation tasks of a multi-sensor mobile radar according to an embodiment of the present invention.

FIG. 2 is a diagram for explaining an operation process of the real-time calculation task reassignment apparatus shown in FIG. 1 .

FIG. 3 is a diagram for explaining the operation process of the usage monitoring unit shown in FIG. 1. FIG. 3 (a) shows an example of a CPU core in which the usage monitoring unit is executed, and FIG. 3 (b) is monitoring the usage monitoring unit. It is a drawing for explaining the operation.

4 is a diagram for explaining the operation process of the task management unit shown in FIG. 1. FIG. 4(a) shows an example of a CPU core executed by the task management unit, and FIG. 4(b) shows tasks of the task management unit. It is a diagram for explaining an information acquisition operation.

5(a) shows an example of a CPU core in which a task management unit is executed, and FIG. 5(b) is a diagram for explaining task information stored in a database.

Referring to FIG. 1 , a real-time calculation task reallocation device (hereinafter referred to as a 'real-time calculation task reallocation device') 100 of a complex sensor mobile radar according to an embodiment of the present invention is a mobile radar including a complex sensor ( (not shown), real-time usage of each CPU core of the mobile radar can be measured, based on the measured real-time usage, the monitoring cycle for each CPU core can be changed, and calculation tasks assigned to the CPU core can be reallocated.

To this end, the real-time operation task reallocation device 100 includes a plurality of usage monitoring units 110, a usage analysis unit 130, a monitoring control unit 150, a plurality of task management units 160, and a scheduling unit 170. can do.

The usage monitoring unit 110 is generated as many as the number of CPU cores of the mobile radar, executed in the form of a task in each CPU core, and can monitor usage of the CPU cores according to a monitoring period.

That is, the usage monitoring unit 110 may measure the maximum number of operations per second (Cnt _max ) of the CPU core at the beginning of operation (ie, the beginning of operation of the mobile radar).

At this time, the usage monitoring unit 110 repeatedly measures the number of operations per second for a preset number of times (eg, twice) at intervals of a predetermined time (eg, 1 second, etc.) at the beginning of the operation, and measures the measured plurality of operations per second. The largest value among the number of times may be obtained as the maximum number of operations per second (Cnt _max ). For example, the usage monitoring unit 110 may measure the maximum number of operations per second (Cnt _max ) at the beginning of operation using an algorithm as shown in [Table 1] below.

Algorithm for measuring the maximum number of operations per second getCPU();
WHILE (run_time <= 1s)
Idle_Count++;
END WHILE
ReleaseCPU();
IF (Idle_Count > Max_Count)
Max_Count = Idle_Count;
END IF

In addition, the usage monitoring unit 110 is set to the lowest priority, and occupies the CPU core at a time when other tasks do not occupy the CPU core according to the monitoring period, and per second in the idle state according to the monitoring period (P _monitor ). The number of operations (Cnt _idle ) can be measured. For example, as shown in (a) of FIG. 3, the usage monitoring unit 110 executed in CPU core #1 is in an idle state (IDLE) of CPU core #1 as shown in (b) of FIG. 3. The number of operations per second (Cnt _idle ) in the idle state (IDLE) can be measured by occupying core #1. At this time, the usage monitoring unit 110 monitors the idle state at intervals of a preset time (eg, 1 second, etc.). The number of operations per second may be repeatedly measured for a preset number of times (eg, twice), and the largest value among the measured number of operations per second may be obtained as the number of operations per second in an idle state (Cnt _idle ). For example, the usage monitoring unit 110 may measure the number of operations per second (Cnt _idle ) in an idle state by using the algorithm shown in [Table 1] above.

The usage analyzer 130 may analyze the usage of CPU cores acquired through the usage monitoring unit 110 for each CPU core.

That is, the usage analysis unit 130 is based on the maximum number of operations per second (Cnt _max ) of the CPU core and the number of operations per second in the idle state (Cnt _idle ) of the CPU core provided by the plurality of usage monitoring units 110, You can analyze CPU core usage (CPU _rate ) for each CPU core.

For example, the usage analysis unit 130 may measure the usage (CPU _rate ) of each CPU core for each CPU core through [Equation 1] below.

The monitoring control unit 150 may control the monitoring period for each CPU core for each CPU core based on the result analyzed by the usage analysis unit 130 .

That is, the monitoring control unit 150 may update the monitoring period (P _monitor ) for each CPU core based on the usage (CPU _rate ) of each CPU core provided from the usage analysis unit 130 .

At this time, if the CPU core usage (CPU _rate ) provided from the usage analysis unit 130 is greater than the preset CPU core usage threshold (CPU _T ), the monitoring control unit 150 counts the CPU core usage exceeding count (Cnt _Exceed ) by one. It can be increased, and the CPU core usage stabilization count (Cnt _Stable ) can be initialized to 0. In addition, the monitoring control unit 150 may obtain a reduction coefficient (Coff _reduce ) based on the CPU core usage (CPU _rate ), the CPU core usage threshold (CPU _T ), and the number of times the CPU core usage is exceeded (Cnt _Exceed ). For example, the monitoring control unit 150 may measure the reduction coefficient (Coff _reduce ) through [Equation 2] below.

On the other hand, if the CPU core usage (CPU _rate ) is less than or equal to the CPU core usage threshold (CPU _T ), the monitoring control unit 150 initializes the CPU core usage exceeding count (Cnt _Exceed ) to 0 and stabilizes the CPU core usage. The count (Cnt _Stable ) can be increased by one. And, if the CPU core usage stabilization count (Cnt _Stable ) is greater than the preset stability threshold (Cnt _Stable,T ), the monitoring control unit 150 reduces the reduction coefficient (Coff _reduce ) to 1/2 of the existing reduction coefficient (Coff _reduce ). can be changed to On the other hand, if the CPU core usage stabilization count (Cnt _Stable ) is less than or equal to the stability threshold (Cnt _Stable,T ), the monitoring control unit 150 may maintain the reduction coefficient (Coff _reduce ) as the existing reduction coefficient (Coff _reduce ). .

Then, when the reduction coefficient (Coff _reduce ) is less than or equal to 1, the monitoring controller 150 may update the monitoring period (P ⁱ _monitor ) to a preset initial monitoring period (P ^init _monitor ). On the other hand, if the reduction coefficient (Coff _reduce ) is greater than 1, the monitoring control unit 150 obtains the monitoring period (P ⁱ _monitor ) by multiplying the previous monitoring period (P ^i-1 _monitor ) by 1/the reduction coefficient (Coff _reduce ). It can be updated at monitoring intervals.

Here, the updated monitoring period (P ⁱ _monitor ) may be greater than or equal to the preset minimum monitoring period (P ^min _monitor ) and may be less than or equal to the initial monitoring period (P ^init _monitor ).

In addition, the monitoring control unit 150 may provide the monitoring period updated for each CPU core to the plurality of usage monitoring units 110 .

The task management unit 160 may obtain task information of calculation tasks generated as many as the number of CPU cores of the mobile radar and allocated to the CPU cores. Unlike the usage monitoring unit 110 that measures the usage of CPU cores at regular intervals, the task management unit 160 is executed every time the operation mode of the mobile radar is changed, so the execution frequency is less than that of the usage monitoring unit 110.

The task management unit 160 is first executed in the initialization mode and acquires information of all tasks. Thereafter, the task management unit is executed whenever the operating mode of the mobile radar is changed such as inspection mode or automatic search mode after the initialization mode is finished. For example, referring to FIG. 4 , the usage monitoring unit 110 may be executed when the operation mode is changed from the initialization mode to the self-check mode or when the operation mode is changed from the self-check mode to the automatic search mode.

The task management unit 160 may be executed in the form of a task in each CPU core. By setting the priority of the task manager 160 low, task information may be acquired at the beginning of the changed operation mode within a range that does not interfere with other calculation tasks. According to an embodiment of the present invention, the task management unit 160 may be assigned the second lowest priority after the usage management unit 110 to occupy the CPU core.

The task management unit 160 may acquire all task information in various previously known methods (eg, a snapshot method) and store it in the database 161 whenever the operation mode of the mobile radar is changed.

The database 161 may be located in the task management unit 160, but is not necessarily limited thereto.

Referring to (b) of FIG. 5, the task information may include the number of CPU cores used at each point in time, whether or not the task is fixed to the CPU core, whether the CPU core occupies the task, and priority. It is not.

The scheduling unit 170 may re-allocate the calculation task allocated to the CPU core based on the monitoring period and task information controlled through the monitoring control unit 150 .

That is, when the monitoring period updated through the monitoring control unit 150 matches the minimum monitoring period based on the task information stored in the database 161, the scheduling unit 170 is assigned to the CPU core corresponding to the updated monitoring period. You can reassign existing computational tasks to other CPU cores.

At this time, the scheduling unit 170 may assign a calculation task having the lowest priority among calculation tasks allocated to the CPU core corresponding to the updated monitoring period to another CPU core having the smallest usage of the CPU core.

The scheduling unit 170 may perform reallocation of calculation tasks using the most up-to-date task information.

According to an embodiment of the present invention, the scheduling unit 170 determines the number of tasks assigned to each CPU core by using the latest information among the task information stored in the database 161, and then sets the monitoring period to the minimum monitoring period. A calculation task reassignment method may be distinguished according to the number of calculation tasks allocated to the matching CPU core (eg, 1 case, 2 cases, and 3 cases).

The determination of the calculation task to be reassigned is based on priority. For example, a task with the lowest priority among tasks running on a CPU core requiring relocation is subject to relocation.

The scheduling unit 170, when the monitoring period updated through the monitoring control unit 150 matches the minimum monitoring period, when the number of calculation tasks assigned to the CPU cores corresponding to the updated monitoring period is greater than a preset standard. Among the calculation tasks assigned to the CPU core, at least one calculation task may be reassigned to another CPU core in consideration of priority.

The scheduling unit 170 may allocate the calculation task to be reallocated to the CPU core with the lowest usage. When there are a plurality of CPU cores with the least amount of usage, the calculation task to be reallocated may be allocated to the CPU core with the smallest number of allocated calculation tasks among the plurality of CPU cores with the least amount of use.

The scheduling unit 170 may occupy the CPU cores corresponding to the monitoring period with calculation tasks when the number of calculation tasks assigned to the CPU cores corresponding to the updated monitoring period is less than a preset standard. According to an embodiment of the present invention, the scheduling unit 170 modifies the occupancy status of task information stored in the database 161 of calculation tasks to 'occupy' when the number of calculation tasks being executed in the CPU core is one, so that other CPUs It is possible to prevent damage to real-time properties by preventing sharing of calculation tasks with cores.

The scheduling unit 170 may move a computation task having a lower priority among the two computation tasks to another CPU core in consideration of a delay time occurring when the computation tasks are relocated when the number of computation tasks being executed in the CPU core is two.

The scheduling unit 170 may move a calculation task having the lowest priority among the calculation tasks running on the CPU core to another CPU core when the number of calculation tasks being executed is three or more.

Even after reassignment of computational tasks, if the CPU core usage that requires relocation exceeds the CPU core usage threshold and the minimum monitoring cycle is maintained without change in monitoring cycle, the number of computational tasks assigned to the corresponding CPU core increases to a predetermined boundary value (e.g. For example, the calculation task reallocation process may be repeated until there are two).

According to an embodiment of the present invention, a user may 'fix' a specific calculation task to one CPU core through the scheduling unit 170 . When a computational task is 'fixed' to one CPU core, regardless of the reallocation algorithm described above, the computational task is prevented from being reallocated as it is fixed to one CPU core, and the computational task can be preferentially processed. there is.

Then, a real-time calculation task reallocation method of a multi-sensor mobile radar according to an embodiment of the present invention will be described with reference to FIGS. 6 to 10 .

6 is a flowchart illustrating a real-time operation task reallocation method of a multi-sensor mobile radar according to an embodiment of the present invention.

Referring to FIG. 6 , the usage monitoring unit 110 monitors the usage of CPU cores according to the monitoring period (S610). At this time, the usage monitoring unit 110 is generated as many as the number of CPU cores of the mobile radar, executed in the form of a task in each CPU core, and can monitor usage of the CPU cores according to the monitoring period.

Thereafter, the usage analysis unit 130 analyzes the usage of CPU cores acquired through the usage monitoring unit 110 for each CPU core (S630).

Then, the monitoring control unit 150 controls the monitoring period for each CPU core for each CPU core based on the result analyzed through the usage analysis unit 130 (S650). That is, the monitoring control unit 150 may update a monitoring period for each CPU core based on the amount of CPU core usage for each CPU core received from the usage analysis unit 130 . In addition, the monitoring control unit 150 may provide the monitoring period updated for each CPU core to the plurality of usage monitoring units 110 .

Subsequently, the task management unit 160 acquires task information of the calculation task assigned to the CPU core (S670).

Also, the scheduling unit 170 may re-allocate the calculation task allocated to the CPU core based on the monitoring period controlled through the monitoring control unit 150 (S690).

FIG. 7 is a flowchart for explaining detailed steps of the monitoring step shown in FIG. 6 .

Referring to FIG. 7 , the usage monitoring unit 110 may measure the maximum number of operations per second (Cnt _max ) of the CPU core at the beginning of operation (S611). At this time, the usage monitoring unit 110 repeatedly measures the number of operations per second for a preset number of times (eg, twice) at intervals of a predetermined time (eg, 1 second, etc.) at the beginning of the operation, and measures the measured plurality of operations per second. The largest value among the number of times may be obtained as the maximum number of operations per second (Cnt _max ).

Thereafter, when the monitoring time comes according to the monitoring period (S613-Y), the usage monitoring unit 110 may measure the number of operations per second in the idle state of the CPU core (S615). That is, the usage monitoring unit 110 is set to the lowest priority, occupies the CPU core at a time when other tasks do not occupy the CPU core according to the monitoring period, and monitors the CPU core per second in the idle state according to the monitoring period (P _monitor ). The number of operations (Cnt _idle ) can be measured. At this time, the usage monitoring unit 110 repeatedly measures the number of operations per second for a preset number of times (eg, twice) at intervals of a predetermined time (eg, 1 second) in the idle state, and measures the measured plurality of operations per second. The largest value among the counts may be obtained as the number of operations per second (Cnt _idle ) in an idle state.

FIG. 8 is a flowchart for explaining detailed steps of the usage analysis step shown in FIG. 6 .

Referring to FIG. 8 , the usage analyzer 130 uses the CPU core for each CPU core based on the maximum number of operations per second (Cnt _max ) of the CPU core and the number of operations per second (Cnt _idle ) of the CPU core in an idle state. (CPU _rate ) can be analyzed (S631).

For example, the usage analysis unit 130 may measure the usage (CPU _rate ) of each CPU core for each CPU core through [Equation 1] above.

FIG. 9 is a flowchart for explaining detailed steps of the monitoring period control step shown in FIG. 6 .

Referring to FIG. 9, if the CPU core usage (CPU _rate ) is greater than the CPU core usage threshold (CPU _T ) (S651-Y), the monitoring control unit 150 increases the number of times the CPU core usage exceeds (Cnt _Exceed ) by one, , CPU core usage stabilization count (Cnt _Stable ) may be initialized to 0 (S152).

Then, the monitoring control unit 150 may obtain a reduction coefficient (Coff _reduce ) based on the CPU core usage (CPU _rate ), the CPU core usage threshold (CPU _T ), and the number of times the CPU core usage is exceeded (Cnt _Exceed ). (S653). For example, the monitoring control unit 150 may measure the reduction coefficient (Coff _reduce ) through [Equation 2] above.

On the other hand, if the CPU core usage (CPU _rate ) is less than or equal to the CPU core usage threshold (CPU _T ) (S151-N), the monitoring control unit 150 increases the CPU core usage stabilization count (Cnt _Stable ) by one, The CPU core usage exceeding count (Cnt _Exceed ) may be initialized to 0 (S654).

Thereafter, if the number of stable CPU core usage (Cnt _Stable ) is greater than the stable threshold (Cnt _Stable,T ) (S655-Y), the monitoring control unit 150 reduces the reduction coefficient (Coff _reduce ) to the base reduction coefficient (Coff _reduce ). It can be changed to 1/2 (S656).

On the other hand, if the CPU core usage stabilization count (Cnt _Stable ) is less than or equal to the stability threshold (Cnt _Stable,T ) (S655-N), the monitoring control unit 150 reduces the reduction coefficient (Coff _reduce ) to the existing reduction coefficient (Coff _reduce ). ) can be maintained (S657).

Then, if the reduction coefficient (Coff _reduce ) is greater than 1 (S158-N), the monitoring control unit 150 sets the monitoring period (P ⁱ _monitor ) to the previous monitoring period (P ^i-1 _monitor ) by 1/decrease factor (Coff It can be updated with the monitoring cycle obtained by multiplying _reduce ) (S659).

On the other hand, if the reduction coefficient (Coff _reduce ) is less than or equal to 1 (S658-Y), the monitoring control unit 150 may update the monitoring period (P ⁱ _monitor ) to the initial monitoring period (P ^init _monitor ) (S660). .

Here, the updated monitoring period (P ⁱ _monitor ) may be greater than or equal to the preset minimum monitoring period (P ^min _monitor ) and may be less than or equal to the initial monitoring period (P ^init _monitor ).

FIG. 10 is a flowchart for explaining detailed steps of an embodiment of the operation task reassignment step shown in FIG. 6 .

The scheduling unit 170 may determine whether the updated monitoring period coincides with the minimum monitoring period (S691). If the updated monitoring period and the minimum monitoring period do not match, the scheduling unit 170 may end the operation. If the updated monitoring period coincides with the minimum monitoring period, S692 may be subsequently performed.

The scheduling unit 170 may check the task information acquired by the task management unit 160 (S692).

The scheduling unit 170 may determine whether the number of calculation tasks assigned to the CPU core is greater than a preset standard (S693). According to an embodiment of the present invention, two or three preset criteria may be set. S696 may be subsequently performed when the number of calculation tasks assigned to the CPU core is greater than a preset standard. When the number of calculation tasks assigned to the CPU core is not greater than a preset criterion, S697 may be subsequently performed.

The scheduling unit 170 may determine whether the number of calculation tasks allocated to the CPU core is one (S694). If the number of calculation tasks allocated to the CPU core is one, S695 may be subsequently performed. If the number of calculation tasks allocated to the CPU core is not one, S696 may be subsequently performed.

The scheduling unit 170 may prevent sharing of the calculation task with other CPU cores by making the corresponding CPU core occupy a single calculation task (S695).

The scheduling unit 170 may determine a calculation task to be reallocated based on the priority of the calculation task (S696).

The scheduling unit 170 may determine whether one CPU core with the lowest usage is one (S697). When the CPU core with the lowest usage is one, S698 may be subsequently performed. When the CPU core with the lowest usage is not one, S699 may be subsequently performed.

The scheduling unit 170 may reassign the determined reassignment target calculation task to the corresponding CPU core (S698).

The scheduling unit 170 may determine a CPU core with the smallest number of assigned calculation tasks among the plurality of CPU cores with the lowest usage as the CPU core to which the reallocation target calculation task is to be reassigned (S699).

In FIGS. 6 to 10, it is described that each process is sequentially performed, but this is merely an example, and a person skilled in the art will refer to FIGS. Various modifications and variations may be applied by changing the order described, executing one or more processes in parallel, or adding another process.

This application also provides computer storage media. When a program command is stored in a computer storage medium and the program command is executed by a processor, the above-described real-time calculation task reallocation method of the multi-sensor mobile radar is realized.

A computer storage medium according to an embodiment of the present invention may be a U disk, SD card, PD optical drive, mobile hard disk, large-capacity floppy drive, flash memory, multimedia memory card, server, etc., but is not necessarily limited thereto.

According to various embodiments of the present invention, the usage of CPU cores and calculation tasks assigned to CPU cores are monitored in real time, and calculation tasks assigned to CPU cores are reassigned according to circumstances, if necessary. It is possible to prevent damage to real-time due to a sudden increase in computation in a radar environment.

If reallocation of computational tasks is not performed based on a predetermined algorithm, computational realtime performance of other CPU cores is damaged, which may lead to further damage to mobile radar realtime performance.

In order to solve the above problems, the present invention proposes a real-time computation task reallocation method of a multi-sensor mobile radar based on an algorithm for reallocating computation tasks according to the number of computation tasks.

Even though all components constituting the embodiments of the present invention described above are described as being combined or operated as one, the present invention is not necessarily limited to these embodiments. That is, within the scope of the object of the present invention, all of the components may be selectively combined with one or more to operate. In addition, although all of the components may be implemented as a single independent piece of hardware, some or all of the components are selectively combined to perform some or all of the combined functions in one or a plurality of pieces of hardware. It may be implemented as a computer program having. In addition, such a computer program may implement an embodiment of the present invention by being stored in a computer readable medium such as a USB memory, a CD disk, or a flash memory and read and executed by a computer. A recording medium of a computer program may include a magnetic recording medium, an optical recording medium, and the like.

The above description is merely an example of the technical idea of the present invention, and those skilled in the art can make various modifications, changes, and substitutions without departing from the essential characteristics of the present invention. will be. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings. . The protection scope of the present invention should be construed according to the following claims, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

100: Real-time operation task reassignment device of complex sensor mobile radar
110: usage monitoring unit
130: usage analysis unit
150: monitoring and control unit
160: task management unit
161: database
170: scheduling unit

Claims (13)

A real-time operation task reassignment device mounted on a mobile radar including a complex sensor,
a plurality of usage monitors generated as many as the number of CPU cores of the mobile radar, executed in the form of a task in each of the CPU cores, and monitoring usage of the CPU cores according to a monitoring period;
a usage analysis unit for analyzing the usage of the CPU cores acquired through the usage monitoring unit for each CPU core;
Based on the result analyzed by the usage analyzer, a monitoring control unit for controlling the monitoring period for each CPU core for each CPU core;
a task management unit that obtains task information of calculation tasks generated as many as the number of CPU cores of the mobile radar and allocated to the CPU cores; and
A real-time calculation task reallocation device of a complex sensor mobile radar comprising a scheduling unit for reassigning the calculation task allocated to the CPU core based on the monitoring period and the task information controlled through the monitoring control unit. According to claim 1,
The usage monitoring unit,
At the beginning of the operation, the maximum number of operations per second of the CPU core is measured, set to the lowest priority, and the CPU core is occupied at a time when other tasks do not occupy the CPU core according to the monitoring period, thereby reducing the idle state. Apparatus for reassigning real-time computational tasks of a complex sensor mobile radar, characterized in that for measuring the number of computations per second. According to claim 2,
The usage monitoring unit,
At the beginning of the operation, the number of operations per second is repeatedly measured for a preset number of times at a preset time interval, and the largest value among the measured number of operations per second is obtained as the maximum number of operations per second,
A complex sensor mobile type characterized by repeatedly measuring the number of operations per second for a preset number of times at a preset time interval in an idle state and acquiring the largest value among the measured number of operations per second as the number of operations per second in an idle state Radar's real-time computational task reassignment device. According to claim 3,
The usage analysis unit,
Based on the maximum number of operations per second provided from the plurality of usage monitoring units and the number of operations per second in the idle state, the CPU core usage is analyzed in real time. Task reassignment device. According to claim 4,
The monitoring control unit,
The monitoring period for each CPU core is updated based on the usage amount of the CPU core for each CPU core provided from the usage analysis unit, and the monitoring period updated for each CPU core is provided to the plurality of usage monitoring units. Apparatus for reassigning real-time calculation tasks of complex sensor mobile radars, characterized in that for doing. According to claim 5,
The monitoring control unit,
If the usage of the CPU cores provided from the usage analyzer is greater than the preset CPU core usage threshold, the number of times the CPU core usage exceeds is increased by one, the CPU core usage stabilization count is initialized to 0, and the usage of the CPU cores, the obtaining a reduction coefficient based on a CPU core usage threshold and the number of times the CPU core usage exceeds;
If the usage of the CPU cores is less than or equal to the CPU core usage threshold, the CPU core usage exceeding number is initialized to 0, the CPU core usage stabilization count is increased by one, and the CPU core usage stabilization count reaches the preset stability threshold. If it is greater than, the reduction factor is changed to 1/2 of the existing reduction factor, and if the CPU core usage stabilization number is less than or equal to the stability threshold, the reduction factor is maintained as the existing reduction factor;
If the reduction factor is less than or equal to 1, updating the monitoring period to a preset initial monitoring period;
If the reduction factor is greater than 1, update the monitoring period to a monitoring period obtained by multiplying the previous monitoring period by 1/the reduction factor;
The monitoring period to be updated is,
Real-time calculation task reallocation device of a complex sensor mobile radar, characterized in that greater than or equal to the preset minimum monitoring period and less than or equal to the initial monitoring period. According to claim 6,
The scheduling unit,
If the monitoring period updated through the monitoring control unit coincides with the minimum monitoring period,
If the number of calculation tasks allocated to the CPU core corresponding to the updated monitoring period is greater than a preset criterion, at least one calculation task is assigned to another CPU core in consideration of priority among the calculation tasks allocated to the CPU core. reassign,
When the number of calculation tasks allocated to the CPU core corresponding to the updated monitoring period is less than a preset reference, the complex sensor characterized in that the CPU core corresponding to the monitoring period occupies the calculation task allocated to the CPU core. Real-time operation task reassignment device of mobile radar. According to claim 7,
The scheduling unit,
When the number of calculation tasks assigned to the CPU core corresponding to the monitoring period to be updated is greater than a preset standard,
Based on the usage of the CPU core obtained through the usage monitoring unit, the computation task with the lowest priority is assigned to the CPU core with the smallest usage of the CPU core. Reassignment device. According to claim 8,
The scheduling unit,
When there are a plurality of CPU cores with the lowest usage of the CPU cores, the computation task with the lowest priority is allocated to the CPU core with the smallest number of assigned computation tasks among the CPU cores with the lowest usage of the plurality of CPU cores. Apparatus for reassigning real-time calculation tasks of complex sensor mobile radars, characterized in that for doing. A plurality of usage monitoring units, usage analysis units, monitoring control units, and CPU cores of the mobile radar mounted on a mobile radar including complex sensors, generated as many as the number of CPU cores of the mobile radar and executed in the form of a task in each of the CPU cores A real-time computation task reallocation method performed in a real-time computation task reallocation device including a task management unit and a scheduling unit generated as many as the number of tasks, the method comprising:
monitoring, by the usage monitoring unit, usage of the CPU core according to a monitoring period;
analyzing, by the usage analysis unit, the usage amount of the CPU core obtained through the usage monitoring unit for each CPU core;
Controlling, by the monitoring control unit, the monitoring period for each CPU core for each CPU core based on a result analyzed through the usage analysis unit;
obtaining, by the task management unit, task information of an arithmetic task allocated to the CPU core; and
Reassigning, by the scheduling unit, an operation task allocated to the CPU core based on the monitoring period controlled by the monitoring control unit and the task information acquired by the task management unit; How to reassign real-time computational tasks. In paragraph 10,
The step of monitoring the usage of the CPU core,
The usage monitoring unit measures the maximum number of operations per second of the CPU core at the beginning of operation, is set to the lowest priority, and occupies the CPU core at a time when other tasks do not occupy the CPU core according to the monitoring period. A real-time calculation task reallocation method of a complex sensor mobile radar, characterized in that by measuring the number of calculations per second in an idle state. In paragraph 10,
The step of controlling the monitoring period for each CPU core,
The monitoring control unit updates the monitoring period for each CPU core based on the usage amount of the CPU core for each CPU core provided from the usage analysis unit, and sets the updated monitoring period for each CPU core to a plurality of the above. Real-time calculation task reallocation method of complex sensor mobile radar, characterized in that provided to the usage monitoring unit. A computer program stored in a computer-readable recording medium in order to execute the real-time calculation task reallocation method of the complex sensor mobile radar according to any one of claims 10 to 12 on a computer.

Images