2022 IEEE Real-Time Systems Symposium (RTSS)最新文献

Prophet: Realizing a Predictable Real-time Perception Pipeline for Autonomous Vehicles 先知:实现自动驾驶汽车可预测的实时感知管道

2022 IEEE Real-Time Systems Symposium (RTSS) Pub Date : 2022-12-01 DOI: 10.1109/RTSS55097.2022.00034

Liangkai Liu, Zheng-hong Dong, Yanzhi Wang, Weisong Shi

{"title":"Prophet: Realizing a Predictable Real-time Perception Pipeline for Autonomous Vehicles","authors":"Liangkai Liu, Zheng-hong Dong, Yanzhi Wang, Weisong Shi","doi":"10.1109/RTSS55097.2022.00034","DOIUrl":"https://doi.org/10.1109/RTSS55097.2022.00034","url":null,"abstract":"We have witnessed the broad adoption of Deep Neu-ral Networks (DNNs) in autonomous vehicles (AV). As a safety-critical system, deadline-based scheduling is used to guarantee the predictability of the AV system. However, non-negligible time variations exist for most DNN models in an AV system, even when the whole system is just running one model. The fact that multiple DNNs are running on the same platform makes the time variations issue even more severe. However, none of the existing works have thoroughly studied the root cause of the time variation issue. In the first part of the paper, we conducted a comprehensive empirical study. We found that the inference time variations for a single DNN model are mainly caused by the DNN's multi-stage/multi-branch structure, which has a dynamic number of proposals or raw points. In addition, we found that the uncoordinated contention and cooperation are the roots of the time variations for multi-tenant DNNs inference. Second, based on these insights, we proposed the Prophet system that addresses the time variations in the AV perception system in two steps. The first step is to predict the time variations based on the intermediate results like proposals and raw points. The second step is coordinating the multi-tenant DNNs to ensure the execution progress is close to each other. From the evaluation results on the KITTI dataset, the time prediction of a single model all achieve higher than 91% accuracy for Faster R-CNN, LaneNet, and PINet. Besides, the perception fusion delay is bounded to 150ms, and the fusion drop ratio is reduced from 5.4% to less than 1 percent.","PeriodicalId":202402,"journal":{"name":"2022 IEEE Real-Time Systems Symposium (RTSS)","volume":"235 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115567155","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 3

A Utilization-based Test for Non-preemptive Gang Tasks on Multiprocessors 基于利用率的多处理器非抢占队列任务测试

2022 IEEE Real-Time Systems Symposium (RTSS) Pub Date : 2022-12-01 DOI: 10.1109/RTSS55097.2022.00019

Zheng Dong, Cong Liu

引用次数: 2

Real-Time Scheduling with Predictions 带预测的实时调度

2022 IEEE Real-Time Systems Symposium (RTSS) Pub Date : 2022-12-01 DOI: 10.1109/RTSS55097.2022.00036

Tianming Zhao, Wei Li, Albert Y. Zomaya

引用次数: 3

End-To-End Timing Analysis in ROS2 ROS2中的端到端时序分析

2022 IEEE Real-Time Systems Symposium (RTSS) Pub Date : 2022-12-01 DOI: 10.1109/RTSS55097.2022.00015

Harun Teper, Mario Günzel, Niklas Ueter, G. V. D. Brüggen, Jian-Jia Chen

{"title":"End-To-End Timing Analysis in ROS2","authors":"Harun Teper, Mario Günzel, Niklas Ueter, G. V. D. Brüggen, Jian-Jia Chen","doi":"10.1109/RTSS55097.2022.00015","DOIUrl":"https://doi.org/10.1109/RTSS55097.2022.00015","url":null,"abstract":"Modern autonomous vehicle platforms feature many interacting components and sensors, which add to the system complexity and affect their performance. A key aspect for such platforms are end-to-end timing guarantees, which are required for safe and predictable behavior in every situation. One widely used tool to develop such autonomous systems is the Robot Operating System 2 (ROS2), which allows creating robot applications composed of several components that communicate with each other to form complex systems. Furthermore, it guarantees real-time constraints and provides reliable timing behavior using a custom scheduler design that manages the execution of all components. These components and their data propagation form multiple cause-effect chains that can be analyzed to determine two key metrics: maximum reaction time (which is the maximum time for the system to react to an external input) and maximum data age (which equals the maximum time between sampling and the output of the system being based on that sample). However, an end-to-end analysis for cause-effect chains in ROS2 systems has not been provided yet. In this paper, we provide a theoretical upper bound for the end-to-end timing of a ROS2 system on a single electronic control unit (ECU). Additionally, we show how to simulate a ROS2 system to get a lower bound for the timing analysis and introduce an online end-to-end timing measurement method for existing ROS2 systems. We evaluate our methods with a basic autonomous navigation system and determine the timing behavior for different components and sensor configurations.","PeriodicalId":202402,"journal":{"name":"2022 IEEE Real-Time Systems Symposium (RTSS)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126415055","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 9

Work-in-Progress: Victim-Aware Scheduling for Robust Operations in Safety-Critical Systems 正在进行的工作:安全关键系统中鲁棒操作的受害者感知调度

2022 IEEE Real-Time Systems Symposium (RTSS) Pub Date : 2022-12-01 DOI: 10.1109/RTSS55097.2022.00048

Dakai Zhu, S. Drager, Matthew Anderson, Hakan Aydin

引用次数: 0

Work-in-Progress: Exploring the Composition of Synchronous Intelligent Intersections 在研:同步智能交叉口的构成探索

2022 IEEE Real-Time Systems Symposium (RTSS) Pub Date : 2022-12-01 DOI: 10.1109/RTSS55097.2022.00057

R. Reddy, Luís Almeida, P. Santos, E. Tovar

{"title":"Work-in-Progress: Exploring the Composition of Synchronous Intelligent Intersections","authors":"R. Reddy, Luís Almeida, P. Santos, E. Tovar","doi":"10.1109/RTSS55097.2022.00057","DOIUrl":"https://doi.org/10.1109/RTSS55097.2022.00057","url":null,"abstract":"Private vehicles are expected to continue representing a large share of the urban traffic requiring intelligent management to provide safe and efficient urban mobility. In this context, it is imperative to mitigate traffic congestion and associated travel delays to improve the quality of life of urban dwellers. This paper explores the global performance of grid networks of independent intersections using different intersection management protocols. We particularly aim to compare the performance achieved when using the intelligent intersection management architecture (IIMA) that relies on the synchronous intersection management protocol (SIMP), against two conventional (Round-robin - RR and trivial traffic light control - TTLC) and two adaptive (Max-pressure control algorithm - MCA and Websters traffic light control - WTLC) intersection management approaches. We consider four-way two-lane intersections with two crossing configurations, namely dedicated and shared left lane, on a 2×2 grid network of intersections. Simulation results with SUMO show that composing intersections with synchronous management considerably improves the network throughput and reduces travel delays.","PeriodicalId":202402,"journal":{"name":"2022 IEEE Real-Time Systems Symposium (RTSS)","volume":"10 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2022-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"121781306","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 1

Work-in-Progress: A Novel Clock Synchronization System for Large-Scale Clusters 在制品:一种新的大规模集群时钟同步系统

2022 IEEE Real-Time Systems Symposium (RTSS) Pub Date : 2022-12-01 DOI: 10.1109/RTSS55097.2022.00056

Zhuochen Fan, Xiaodong Li, Yanwei Xu, Yuqing Li, Tong Yang, Steve Uhlig

引用次数: 2

Program Committee Members (Main Conference) 项目委员会成员(主要会议)

2022 IEEE Real-Time Systems Symposium (RTSS) Pub Date : 2022-12-01 DOI: 10.1109/rtss55097.2022.00008

引用次数: 0

Task Allocation for Real-time Earth Observation Service with LEO Satellites 低轨道卫星实时对地观测业务任务分配

2022 IEEE Real-Time Systems Symposium (RTSS) Pub Date : 2022-12-01 DOI: 10.1109/RTSS55097.2022.00012

Mingsong Lv, Xuemei Peng, Wenjing Xie, Nan Guan

引用次数: 0

Work-in-Progress: Generalized Demand-Based Schedulability Test for Dual-Criticality Sporadic Task Model 在制品:双临界偶发任务模型的广义需求可调度性检验

2022 IEEE Real-Time Systems Symposium (RTSS) Pub Date : 2022-12-01 DOI: 10.1109/RTSS55097.2022.00053

Jiwoo Lee, A. Cheng, Guangli Dai

引用次数: 0