LAUSR

Self-driving systems have a hard real-time nature, and the control commands of the vehicle must be output before the end-to-end deadline using sufficiently new data. It must also have the functionality to quickly shift to a safe state in the event of a deadline miss. However, the current self-driving system can only detect a deadline miss at the end of the process. To further improve safety, a method for detecting the possibility of a deadline miss in the middle of the process is required. Therefore, we represent such a real-time system as a mixed timer-driven and event-driven directed acyclic graph (DAG) and propose an early detection method for deadline misses by deriving a time constraint for each node. The experimental evaluation shows that the proposed method can detect deadline misses early for various scheduling algorithms. It also shows that the deadline miss ratio can be reduced by prioritizing the scheduling of jobs with a small margin to the time constraint determined using the proposed method for each job.