Contention-Free Scheduling Algorithm Using LET Paradigm for Clustered Many-core Processor

Self-driving systems require multi-/many-core platforms with high computing power and low power consumption. However, for hard real-time applications, multiple demands on shared resources can impede real-time performance. Therefore, making the timing of memory access deterministic is important. The logical execution time (LET) paradigm has gained attention as a means to achieve this purpose. However, this approach lacks scalability owing to the overhead caused because the LET paradigm is set longer than the actual execution time of the task. This paper proposes a theoretical scheduling method for a model applying the LET paradigm to the directed acyclic graph (DAG) nodes for a multi-/many-core platform. The proposed method considers communication timing and generates a schedule that does not cause communication contentions. In addition, the proposed method performs a parallel calculation of tasks to deal with the overhead caused by adopting the LET paradigm.