Scheduling Tasks with Mixed Timing Constraints in GPU-Powered Real-Time Systems
Yunlong Xu, Rui Wang, Tao Li, Mingcong Song, Lan Gao, Zhongzhi Luan, Depei Qian · 2016
Due to the cost-effective, massive computational power of graphics processing units (GPUs), there is a growing interest of utilizing GPUs in real-time systems. For example GPUs have been applied to automotive systems to enable new advanced and intelligent driver assistance technologies, accelerating the path to self-driving cars. In such systems, GPUs are shared among tasks with mixed timing constraints: real-time (RT) tasks that have to be accomplished before specified deadlines, and non-real-time, best-effort (BE) tasks. In this paper, (1) we propose resource-aware non-uniform slack distribution to enhance the schedulability of RT tasks (the total amount of work of RT tasks whose deadlines can be satisfied on a given amount of resources) in GPU-enabled systems; (2) we propose deadline-aware dynamic GPU partitioning to allow RT and BE tasks to run on a GPU simultaneously, such that BE tasks are not blocked for a long time.