METHOD FOR INTEGRATION OF CALCULATIONS HAVING A VARIABLE RUNNING TIME INTO A TIME-CONTROLLED ARCHITECTURE

摘要

The invention relates to a method for the integration of calculations having a variable running time into a distributed, time-controlled, real-time computer architecture, which real-time computer architecture consists of a plurality of computer nodes, wherein a global time having known precision is available to the computer nodes, wherein at least a portion of the computer nodes is equipped with sensor systems, in particular different sensor systems for observing the environment, and wherein the computer nodes exchange messages via a communication system, wherein at the start of each cyclical frame Fi having the duration d, the computer nodes acquire raw input data by means of a sensor system, wherein the start times of frame Fi are deduced from the progress of the global time, and wherein the pre-processing of the raw input data is carried out by means of algorithms, the running times of which depend upon the input data, and wherein the value of the ageing index AI=0 is assigned to a pre-processing result which is produced within the frame Fi at the start of which the input data were acquired, and wherein the value of the ageing index AI=1 is assigned to a pre-processing result which is produced within the frame following the frame in which the input data were acquired, and wherein the value AI=n is assigned to a pre-processing result which is produced in the n-th frame after the data acquisition, and wherein the ageing indices of the pre-processing results are taken into consideration in the computer nodes which carry out the fusion of the pre-processing results of the sensor systems.

主权项

1. A method for the integration of calculations having a variable running time into a distributed, time-controlled, real-time computer architecture, which real-time computer architecture consists of a plurality of computer nodes, wherein a global time having known precision is available to the computer nodes, wherein at least a portion of the computer nodes is equipped with sensor systems, in particular different sensor systems for observing the environment, and wherein the computer nodes exchange messages via a communication system, the method comprising:
collecting, by the computer nodes, at the start of each cyclical frame Fi having the duration d, raw input data by means of a sensor system, wherein the start times of frame Fi are deduced from the progress of the global time; and pre-processing the raw input data by means of algorithms, the running times of which depend upon the input data, and wherein the value of the ageing index AI=0 is assigned to a pre-processing result which is produced within the frame Fi at the start of which the input data were collected, and wherein the value of the ageing index AI=1 is assigned to a pre-processing result which is produced within the frame following the frame in which the input data were collected, and wherein the value AI=n is assigned to a pre-processing result which is produced in the n-th frame after the data acquisition, and wherein the ageing indices of the pre-processing results are taken into consideration in the computer nodes which carry out the fusion of the pre-processing results of the sensor systems.