Schedulability analysis for real-time mobile systems (S)

Abstract

Autonomous driving systems are complex real-time mobile systems. To guarantee their safety and security, the mobile objects (agents) in these systems must be isolated from each other so that they do not collide with each other. Since isolation means two or more mobile objects cannot be located in the same area at the same time, a scheduling policy is required to control the movement of these mobile objects. However, traditional scheduling theories are based on task scheduling which is coarsegrained and cannot be directly used for fine-grained isolation controls. In this paper, we first propose an event-based formal model called a time dependency structure which is used to model and analyze real-time mobile systems. Then, an event-based schedule is defined. Finally, we analyze the schedulability of isolation-that is, checking whether a given schedule ensures the isolation relationship among mobile objects or not.