Fully autonomous vehicles (AVs) must meet stringent real-time performance and safety-criticality constraints of multiple applications simultaneously in highly dynamic environmental conditions. To enable such a system, carefully selected accelerators and general-purpose cores on Systems-on-Chips (SoCs) are required. However, schedulers that are agnostic to this heterogeneity lead to inefficient utilization of hardware resources and increase the time to complete the AV's mission. As a solution, our letter proposes a heterogeneity-aware, multi-level scheduler called HetSched. HetSched leverages run-time information about the underlying heterogeneous SoC, along with the applications’ real-time constraints to improve an AV's mission time. Our evaluation demonstrates a reduction in mission time of 2.0-4.8×, when compared against state-of-the-art (SOTA) schedulers. Furthermore, when used as part of an SoC design space exploration loop, in comparison to the SOTA schedulers, HetSched reduces the number of accelerators required by an SoC to safely complete the AV's mission by 1.9× on average.

中文翻译：

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自动驾驶汽车 SoC 上的异构感知调度


全自动车辆 (AV) 必须在高度动态的环境条件下同时满足多个应用的​​严格实时性能和安全关键约束。为了实现这样的系统，需要在片上系统 (SoC) 上精心挑选加速器和通用内核。然而，对这种异构性不可知的调度程序会导致硬件资源利用效率低下，并增加完成 AV 任务的时间。作为解决方案，我们的信中提出了一种异构感知的多级调度程序，称为 HetSched。 HetSched 利用有关底层异构 SoC 的运行时信息以及应用程序的实时约束来改善 AV 的任务时间。我们的评估表明，与最先进的 (SOTA) 调度程序相比，任务时间减少了 2.0-4.8 倍。此外，当用作 SoC 设计空间探索循环的一部分时，与 SOTA 调度程序相比，HetSched 将 SoC 安全完成 AV 任务所需的加速器数量平均减少了 1.9 倍。