WO2023122891A1 - Procédé de planification de tâches et système de processeur multicœur - Google Patents

Procédé de planification de tâches et système de processeur multicœur Download PDF

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Publication number
WO2023122891A1
WO2023122891A1 PCT/CN2021/141693 CN2021141693W WO2023122891A1 WO 2023122891 A1 WO2023122891 A1 WO 2023122891A1 CN 2021141693 W CN2021141693 W CN 2021141693W WO 2023122891 A1 WO2023122891 A1 WO 2023122891A1
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task
scheduling method
processed
tasks
pending
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PCT/CN2021/141693
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English (en)
Chinese (zh)
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段贵江
吴成鼎
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宁德时代新能源科技股份有限公司
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Priority to CN202180101376.XA priority Critical patent/CN117751351A/zh
Priority to PCT/CN2021/141693 priority patent/WO2023122891A1/fr
Publication of WO2023122891A1 publication Critical patent/WO2023122891A1/fr

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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
    • G06F9/50—Allocation of resources, e.g. of the central processing unit [CPU]

Definitions

  • the present application relates to the field of computer technology, in particular to a task scheduling method and a multi-core processor system.
  • SOA Service-Oriented Architecture
  • the on-board controller it is necessary to introduce functions developed by third parties to create a digital ecosystem to meet consumers' diverse driving/riding scene experience, but also to ensure driving safety. Because, reasonable scheduling is required for a large number of tasks that need to be handled by the on-board controller.
  • the present application proposes a task scheduling method, a multi-core processor system, and a computer-readable storage medium.
  • the first aspect of the present invention provides a kind of task scheduling method, and this task scheduling method comprises:
  • the execution of the first task is forcibly terminated or the task scheduling for the processing core executing the first task is stopped. .
  • tasks have different priorities.
  • low-level tasks can be forcibly terminated immediately
  • middle-level tasks can be forcibly terminated after receiving instructions or delays
  • high-level tasks cannot If it can be terminated forcibly, the task scheduling of the processing core executing the abnormal task is stopped.
  • the abnormal task is terminated after a delay, neither the abnormal program will be forcibly terminated, nor will the abnormal program be left alone, which avoids further damage caused by the abnormal program expanding the scope of the fault, and avoids Abnormalities such as system crashes, flashbacks, restarts, and logic conflicts provide technical support for the system to enter a safe state.
  • the abnormal state of the first task when the first task is in an execution abnormal state, the abnormal state of the first task is recorded. By recording abnormal tasks, it provides data assurance for problem analysis of third-party applications and whether new applications can be deployed.
  • the abnormal state of the first task is sent to the system application, and the system application judges whether to execute the second task based on the abnormal state.
  • a processing core of a task issues a termination command of the first task.
  • the system application includes a health management module.
  • the execution exception state includes one or more of the following states: task execution timeout state, memory used by the task exceeds the limit, and stack used by the task exceeds the limit.
  • the predetermined waiting time is determined based on the priority of the first task.
  • the task scheduling method includes: when the first task can be forcibly terminated, forcibly terminating the first task.
  • the task scheduling method includes: when the first task that is forcibly terminated is the last task in the processing core executing the first task, assigning a new task to the processing core executing the first task .
  • the task scheduling method includes: when the first task that is forcibly terminated is not the last task in the processing core executing the first task, ordering the processing core executing the first task to execute sequentially as The next task assigned.
  • the processing core executing the abnormal task is released, and the system crash is avoided.
  • the task scheduling method is applicable to a multi-core processor system, and the multi-core processor system includes multiple processing cores.
  • the task scheduling method is executed by a processing core in the plurality of processing cores, the task scheduling method includes:
  • the task scheduling method is temporarily fixed to be executed by one processing core, and then the task scheduling method is moved to another processing core for execution when the processing core fails, so as to avoid the processing core failure of the execution task scheduling method
  • the processing core executing the task scheduling method plays the role of monitoring task triggering, task waiting, task scheduling, and task execution, and can record abnormalities when tasks are abnormal.
  • the task scheduling method includes: allocating the pending tasks in the pending task queue to processing cores other than the processing core executing the task scheduling method among the plurality of processing cores.
  • the tasks to be processed in the task queue to be processed are allocated to available specified processing core.
  • the processing cores searched for indiscriminate scheduling according to the dynamic execution parameters of the tasks but also the task scheduling of the processing cores is dynamically adjusted according to the status of the processing cores and the processing system itself, making the task scheduling more reasonable.
  • the priority of some tasks cannot be changed, while the priority of some tasks can be changed; considering that the relative priority of tasks will change dynamically based on the scene, this application
  • the implementation scheme realizes the flexible adjustment of the priority.
  • the task scheduling method includes: adjusting the priority of the pending tasks based on the allocated waiting time of the pending tasks in the pending task queue.
  • the scheduling order of the tasks to be processed in the task queue to be processed is adjusted based on the first-in-first-out and priority criteria.
  • adjusting the priority of the above-mentioned tasks to be processed based on the assigned waiting time of the tasks to be processed in the task queue to be processed includes:
  • the priority of the task to be processed is set to the maximum allowable priority of the task to be processed.
  • the attribute parameters of the new task to be processed are obtained, and the above attribute parameters include one or more of the following items: the maximum allowable waiting time of the task, the scheduled time of the task The estimated execution time, the original priority of the task, the priority adjustment factor of the task, and whether the task is allowed to be forced to terminate.
  • the task scheduling method includes: assigning tasks in the pending task queue to different idle processing cores according to the estimated execution time of the tasks in the pending task queue, so that different processing cores execute tasks Completion times are staggered.
  • the difference between the sum of the estimated execution times of one or more tasks assigned to one idle processing core and the sum of the estimated execution times of one or more tasks successively assigned to another idle processing core greater than or equal to the preset time interval.
  • the preset time interval is 2ms.
  • neither tasks are allocated individually one by one, nor tasks are allocated to multiple idle processing cores in batches at the same time, but one or more tasks are allocated to each idle processing core sequentially according to the possible execution time of the task,
  • the waiting time of the idle processing core is reduced, the system efficiency is improved, and the coordination difficulty of tasks during the waiting time and the problem of being unable to control the processing core load are avoided at the same time.
  • allocating tasks based on estimated execution times of tasks in the queue of pending tasks includes:
  • the second pending task When the difference between the sum of the estimated execution time of the second pending task and the third pending task and the estimated execution time of the first pending task is greater than or equal to the preset time interval, the second pending task
  • the processing task and the third task to be processed are allocated to the second idle processing core;
  • the second pending task When the difference between the sum of the estimated execution time of the second pending task and the third pending task and the estimated execution time of the first pending task is less than a preset time interval, the second pending task The task, the third task to be processed and the fourth task to be processed are allocated to the second idle processing core.
  • first”, “second”, “third” and “Fourth” indicates the allocation order of tasks to be processed
  • “first” and “second” in the first idle processing core and the second idle processing core indicate the allocation order of idle processing cores that are equally allocated tasks.
  • one or more tasks are assigned to a certain processing core according to the possible execution time of the task, so that each processing core is not assigned a task at an approximate time, thereby ensuring that each processing core does not frequently Entering the idle time can effectively reduce the probability that multiple processing cores enter the idle time at the same time, and improve the processing efficiency of the system.
  • the assignment order of the tasks to be processed is arranged in order from high to low.
  • the allocation order of the above idle processing cores is arranged in descending order.
  • the second aspect of the present application provides a computer-readable storage medium, the computer-readable storage medium stores instructions, and when the above-mentioned instructions are executed by a processor, the above-mentioned instructions cause the processor to implement the method according to the above-mentioned first aspect. Task scheduling method.
  • a third aspect of the present application provides a multi-core processor system, the multi-core processor system includes a plurality of processing cores, one of the processing cores in the plurality of processing cores is configured as a management core for executing task scheduling;
  • the management core is configured to execute the task scheduling method according to the first aspect above.
  • the fourth aspect of the present application provides a task scheduling method, the task scheduling method includes: assigning tasks in the pending task queue to different idle processing cores according to the estimated execution time of the tasks in the pending task queue, The completion time of tasks performed by different processing cores is staggered.
  • the fifth aspect of the present application provides a task scheduling method, the task scheduling method is suitable for a multi-core processor system, the multi-core processor system includes a plurality of processing cores;
  • the task scheduling method is executed by one processing core in the plurality of processing cores, and the task scheduling method includes:
  • FIG. 1 illustrates a flowchart of a task scheduling method 100 according to an embodiment of the present application
  • Figure 1a illustrates a flowchart of a task scheduling method 100a according to another embodiment of the present application
  • FIG. 2 illustrates a block diagram of a multi-core processor system 200 according to one embodiment of the present application
  • FIG. 3 illustrates a flowchart of a task scheduling method 300 according to an embodiment of the present application
  • FIG. 4 illustrates a flowchart of a task scheduling method 400 according to an embodiment of the present application
  • FIG. 5 illustrates a flowchart of a task scheduling method 500 according to an embodiment of the present application
  • Figure 6 illustrates a flow chart of a task scheduling method 600 according to an embodiment of the present application.
  • Fig. 6a illustrates a flowchart of a task scheduling method 600a according to another embodiment of the present application.
  • first and second are only used to distinguish different objects, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features , in a particular order or in a primary or secondary relationship, unless otherwise indicated.
  • an embodiment means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application.
  • the occurrences of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is understood explicitly and implicitly by those skilled in the art that the embodiments described herein can be combined with other embodiments.
  • the term “and/or” is only an association relationship describing associated objects, which means that there may be three relationships, such as A and/or B, which may mean: there is A, and there is A at the same time and B, there are three cases of B.
  • the character "/" in this article generally indicates that the contextual objects are an "or” relationship.
  • the term “plurality” refers to two or more (including two), unless otherwise clearly and specifically defined.
  • conventional scheduling algorithms classify tasks at different levels into different scheduling classes using different algorithms, resulting in overly complex algorithms for task allocation and poor program maintainability.
  • conventional scheduling algorithms do not take into account the impact of scene changes on scheduling; conventional scheduling algorithms only use the dynamic execution parameters of tasks to find processing cores and perform undifferentiated scheduling. state, tasks may be assigned to invalid processing cores.
  • the inventor also found that when the scheduling algorithm is dynamically executed by multiple processing cores, it is often necessary to stack and push the data in different processing cores, resulting in a long execution time of the scheduling algorithm itself; while the scheduling algorithm is fixed by a When the main core is executing, if the main core fails, the scheduling algorithm cannot continue to be executed. In addition, when the task processing times out, the conventional scheduling algorithm often directly terminates the task, which can easily lead to system crashes, flashbacks, restarts, logic conflicts and other abnormalities.
  • the inventor also realized that the conventional scheduling algorithm either assigns individual tasks to idle processing cores one by one, which easily leads to too much waiting time for idle processing cores, or assigns multiple tasks to multiple idle processing cores in batches, which easily leads to task Coordination difficulties during waiting times and the inability to manage nuclear loads.
  • the inventors designed a task scheduling method and a multi-core processor system to adapt to the requirements of applications such as automatic driving for functional complexity, scene diversification, functional individualization, and system security. and real-time requirements.
  • Fig. 1 illustrates a flowchart of a task scheduling method 100 according to an embodiment of the present application.
  • step 102 it is judged whether the executed task is in an abnormal execution state; if yes, it is judged whether the task can be forcibly terminated, step 104 . If the task cannot be forcibly terminated, then report the execution exception status of the task to other tasks associated with the task, step 108 . Then, wait to receive processing instructions for the task from other tasks, and determine whether waiting to receive processing instructions for the task times out, step 110 .
  • Task scheduling step 114. If a processing instruction of the task is received within the predetermined waiting time, the task is processed according to the received processing instruction (step 112 ).
  • the execution exception state includes one or more of the following states: task execution timeout state, memory used by the task exceeds the limit, and stack used by the task exceeds the limit.
  • the predetermined waiting time is determined according to the priority of the task.
  • the abnormal state of the task when the task is in an abnormal execution state, the abnormal state of the task is recorded.
  • the abnormal state of the task By recording abnormal tasks, it provides data assurance for problem analysis of third-party applications and whether new applications can be deployed.
  • the operating system reports the failure of the program process, And provide a certain response time for other related processes. If the operating system instructs to close the program process after receiving the fault alarm, it directly closes the program process. If the operating system does not give or receive processing instructions for the process for a long time, the operating system closes the faulty process after a timeout.
  • the operating system during automatic parking, if the taillight program fails, the operating system will set the failure and wait for other application programs to process, such as slowing down, parking, exiting the automatic driving mode, etc.; If there is no indication feedback, the operating system forcibly shuts down the process in order to prevent the process from expanding the fault range and causing further harm.
  • Fig. 1a illustrates a flowchart of a task scheduling method 100a according to another embodiment of the present application.
  • Figure 1a is similar to Figure 1, so the same steps will not be repeated.
  • step 101 monitor the execution status of the task; then, judge whether the task is in an abnormal state according to the execution status of the task, step 102 . If the task is not in an abnormal state, it is judged whether the execution of the task is completed, step 103 . If the task is not completed, return to step 101 to continue monitoring the execution of the task.
  • the task is terminated directly (step 106 ).
  • the task to be forcibly terminated is the last task in the processing core executing the task, assign a new task to the processing core executing the task;
  • the processing core executing the task is ordered to execute the next task assigned to it in sequence.
  • FIG. 2 illustrates a block diagram of a multi-core processor system 200 according to one embodiment of the present application.
  • the multi-core processor system 200 includes a plurality of processing cores 202A, 202B, 202C, . . . , 202N.
  • processing core 0 202A is a management core
  • the remaining processing cores 1-n 202B, 202C, ..., 202N are processing cores for executing tasks to be processed.
  • the management core 202A plays a role of monitoring task triggering, task waiting, task scheduling, and task execution, and can record abnormalities when tasks are abnormal.
  • the attribute parameters of the new task are obtained, and the attribute parameters include one or more of the following items: the maximum allowable waiting time of the task, the estimated execution time of the task, The original priority of the task, the priority adjustment factor of the task, and whether the task allows forced termination, etc.
  • the new task is inserted into the task queue to be executed according to the priority of the new task.
  • FIG. 3 illustrates a flowchart of a task scheduling method 300 according to an embodiment of the present application.
  • step 302 the state information of the above-mentioned multiple processing cores 202A, 202B, 202C, . . . , 202N is obtained in real time.
  • step 304 it is determined whether the management core 202A is faulty. If the management core 202A is normal, the management core 202A continues to execute the task scheduling algorithm.
  • the management core 202A fails, another processing core other than the processing core 202A in the multiple processing cores 202A, 202B, 202C, ..., 202N is used as a new management core, that is, the new management core executes the task scheduling algorithm, Step 306.
  • the scheduling algorithm is shifted to be executed by the processing core 1 202B, and the tasks to be processed are assigned to the remaining processing cores 2-n 202C, ..., 202N for execution.
  • the task scheduling method is temporarily fixed to be executed by one processing core, and then the task scheduling method is moved to another processing core for execution when the processing core fails, so as to avoid the processing core failure of the execution task scheduling method
  • FIG. 4 illustrates a flowchart of a task scheduling method 400 according to an embodiment of the present application.
  • step 402 the state information of the above-mentioned multiple processing cores 202A, 202B, 202C, . . . , 202N is obtained in real time.
  • step 404 it is determined whether there is a processing core failure, and in step 406, it is determined whether the system is in a low power consumption state. If there is a processing core failure or the system is in a low power consumption state, the pending tasks in the pending task queue are assigned to available designated processing cores, step 408 .
  • the processing cores searched for indiscriminate scheduling according to the dynamic execution parameters of the tasks are searched for indiscriminate scheduling according to the dynamic execution parameters of the tasks, but also the task scheduling of the processing cores is dynamically adjusted according to the status of the processing cores and the processing system itself, making the task scheduling more reasonable.
  • FIG. 5 illustrates a flowchart of a task scheduling method 500 according to an embodiment of the present application.
  • step 502 whether the original priority of the pending task plus the priority adjustment value of the pending task is less than or equal to the maximum allowable priority of the pending task. If yes, then the new priority of the task to be processed is set to the original priority of the task to be processed plus the priority adjustment value of the task to be processed, step 504; if no, the new priority of the task to be processed will be set to Maximum allowed priority of pending tasks, step 506 .
  • the priority adjustment value of the task to be processed is equal to the rounded integer of the product of the assigned waiting time of the task to be processed and the adjustment coefficient.
  • the priorities of some tasks can be changed, but the priorities of tasks are limited within a certain range according to their own attributes.
  • the priority range of the air-conditioning switching task will not exceed the priority range of the braking task.
  • the priority of the pending tasks is adjusted based on the assigned waiting time of the pending tasks in the pending task queue. Considering that the relative priority of the tasks will change dynamically based on the scene, the priority of the tasks is realized. Flexible adjustment.
  • FIG. 6 illustrates a flowchart of a task scheduling method 600 according to an embodiment of the present application.
  • the estimated execution time of the task is acquired; then, in step 604, the tasks in the pending task queue are allocated to different idle tasks according to the estimated execution time of the tasks in the pending task queue
  • the processing cores enable different processing cores to stagger the completion time of tasks. In the embodiment of the present application, by staggering the completion time of different processing cores to execute tasks, the waiting time of idle processing cores is reduced, and the overall efficiency of the system is improved.
  • the difference between the sum of the estimated execution times of one or more tasks assigned to one idle processing core and the sum of the estimated execution times of one or more tasks successively assigned to another idle processing core greater than or equal to the preset time interval.
  • the preset time interval is 2ms. In the embodiment of the present application, neither tasks are allocated individually one by one, nor tasks are allocated to multiple idle processing cores in batches at the same time, but one or more tasks are allocated to each idle processing core sequentially according to the possible execution time of the task, The waiting time of the idle processing core is reduced, the system efficiency is improved, and the coordination difficulty of tasks during the waiting time and the problem of being unable to control the processing core load are avoided at the same time.
  • Fig. 6a illustrates a flowchart of a task scheduling method 600a according to another embodiment of the present application.
  • the first task to be processed is assigned to the first idle processing core; then, in step 606, it is judged that the estimated execution time of the second task to be processed is different from the estimated execution time of the first task to be processed Whether the absolute value of the execution time difference is greater than or equal to the preset time interval.
  • step 607 assigns the second task to be processed to the second idle processing core, step 607; if not, judge the sum of the estimated execution time of the second task to be processed and the third task to be processed and the first task to be processed Whether the absolute value of the difference of the estimated execution time is greater than or equal to the preset time interval, step 608 . If yes, assign the second task to be processed and the third task to be processed to the second idle processing core, step 609; if not, assign the second task to be processed, the third task to be processed and the fourth task to be processed To the second idle processing core, step 610.
  • the "first”, “second”, “third” and “second” in the first pending task, the second pending task, the third pending task and the fourth pending task Four" indicates the allocation order of tasks to be processed
  • "first" and "second” in the first idle processing core and the second idle processing core indicate the allocation order of idle processing cores that are equally allocated tasks.
  • one or more tasks are assigned to a certain processing core according to the possible execution time of the task, so that each processing core is not assigned a task at an approximate time, thereby ensuring that each processing core does not frequently Entering the idle time can effectively reduce the probability that multiple processing cores enter the idle time at the same time, and improve the processing efficiency of the system.
  • the second task to be processed, the third task to be processed and the fourth task to be processed are allocated to the second idle processing core.
  • the sum of the estimated execution times of the tasks assigned to the second idle processing core is less than the estimated execution time of the tasks assigned to the first idle processing core, three pending tasks are still assigned to the first idle processing core. Two idle processing cores, so that a maximum of three tasks to be processed are allocated to the second idle processing core.
  • the estimated execution time of one or more tasks pre-allocated to the third idle processing core is also compared with the estimated execution time of one or more tasks assigned to the second idle processing core. Compare the estimated execution times of one or more tasks of a core.
  • the assignment order of the tasks to be processed is arranged in order from high to low.
  • the allocation order of the above idle processing cores is arranged in descending order.

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Abstract

Procédé de planification de tâches, système de processeur multicœur et support de stockage lisible par ordinateur. Le procédé de planification de tâches consiste : lorsqu'une première tâche est dans un état anormal d'exécution, à déterminer si la première tâche peut être terminée de force ; lorsque la première tâche ne peut pas être terminée de force, à signaler, à une seconde tâche associée à la première tâche, que la première tâche est dans l'état anormal d'exécution ; et, lorsque la durée pendant laquelle la première tâche est dans l'état anormal d'exécution atteint un temps d'attente prédéterminé et qu'une instruction de fin de la première tâche n'a pas été reçue, à terminer de force l'exécution de la première tâche ou à arrêter une planification de tâches effectuée sur un cœur de traitement qui exécute la première tâche.
PCT/CN2021/141693 2021-12-27 2021-12-27 Procédé de planification de tâches et système de processeur multicœur WO2023122891A1 (fr)

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CN202180101376.XA CN117751351A (zh) 2021-12-27 2021-12-27 任务调度方法及多核处理器系统
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