A multiprocessor unit (MPU) in an autonomous driving vehicle (ADV) may provide hard real-time performance. In one embodiment, the MPU may include a virtual machine monitor that virtualizes a plurality of cores of the MPU, the virtual machine monitor may also be divided into two sets of cores that are isolated from each other. The first set of cores is designated to run real-time related services directly on the system virtual machine monitor as trusted applications, and the real-time related services are given a higher priority than the core-level threads on the first set of cores. The second set of cores is designated to run the cores of an operating system (e.g., Linux). In addition, the kernel is patched using a hard real-time open source packet to achieve hard real-time performance. The open source packet may be used for inter-process communication (IPC) between different electronic control units (ECUs) in the ADV.
自动驾驶车辆(ADV)中的多处理器单元(MPU)可以提供硬实时性能。在一个实施例中,MPU可以包括虚拟化MPU的多个核的虚拟机监视器,虚拟机监视器还可以被划分成彼此隔离的两组核。第一组核被指定直接在系统虚拟机监视器上作为可信应用程序运行实时相关服务,并且实时相关服务被给予比第一组核上的内核级线程更高的优先级。第二组核被指定来运行操作系统(例如,Linux)的内核。此外,使用硬实时开源包对内核打补丁,以实现硬实时性能。开源包可用于ADV中不同电子控制单元(ECU)之间的进程间通信(IPC)。
Universal real-time security implementation of MPU
MPU的通用实时安全实现
2024-03-15
Patent
Electronic Resource
Chinese
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