CN111831406A - A kind of multitask scheduling method and device based on vehicle embedded system - Google Patents

Abstract

The invention discloses a multi-task scheduling method and device based on a vehicle-mounted embedded system. The method includes classifying tasks in advance, allocating corresponding RAM resources according to the types of tasks, setting priorities for the classified tasks, and assigning all tasks to It is the same interface function; monitors the event signal, and obtains the task type of the event according to the event signal; executes the corresponding scheduling operation according to the priority corresponding to the task type of the event. The multi-task scheduling method and device provided by the embodiments of the present invention reduce the consumption of system RAM resources during multi-task operation, greatly reduce the limitation of RAM resources on system design, and improve the real-time performance of task operation.

Description

A kind of multitask scheduling method and device based on vehicle embedded system

technical field

The invention relates to the technical field of automobile control systems, in particular to a multi-task scheduling method and device based on a vehicle-mounted embedded system.

Background technique

At present, most ECUs (Electronic Control Unit, electronic control unit) in automotive electronic products are implemented based on MCU (Microcontroller Unit, micro control unit) platform, such as body gateway, air conditioning control unit, multimedia navigation and so on. Because there are many functional modules, they will be embedded in real-time systems for multi-task management, such as Free RTOS (FreeReal Time multi-tasking Operation System, small real-time multi-tasking operating system), uCOS (uControl Operation System, micro-embedded real-time system) and so on. In the prior art, for multi-task management, the task is usually awakened and suspended in a manner of creating a task corresponding to one functional module according to the system's requirements for the functional modules. The purpose of creating a task corresponding to each functional module is to facilitate module management and achieve the requirements of low coupling and high cohesion between modules, thereby realizing the modular management of the software system.

As shown in Figure 1, when creating a task in the prior art, the multitasking management system will allocate a task stack space for each task separately; each task will be assigned a task interface function when it is created, and the interface function is The corresponding tasks are configured with priorities, and a priority vector table including all tasks is formed; the system schedules and manages all tasks based on the priority vector table. After the task is created, the multitasking management system starts task scheduling. The multitasking management system judges whether there are idle RAM resources in the MCU, and judges whether the idle RAM resources meet the task execution requirements. After ensuring that there are idle RAM resources in the MCU that can meet the task execution requirements, the multitasking management system compares and judges the priorities of each task, and schedules and executes the task with the highest priority among all tasks.

In the actual application process, the existing multi-task management system usually has the shortcomings that some tasks occupy the RAM resources of the MCU excessively, resulting in unreasonable allocation of RAM resources and low system operation efficiency. When the number of functional modules in the system increases and the corresponding tasks increase, a large amount of RAM resources need to be allocated to each task. Since the RAM resources of the MCU are limited, some more complex functional modules require more RAM resources, which results in insufficient RAM resources to be allocated to other tasks, causing other tasks to stop running, affecting the operating efficiency of the system.

Therefore, the existing technology still needs to be improved and developed.

SUMMARY OF THE INVENTION

In view of the above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide a multi-task scheduling method and device based on a vehicle-mounted embedded system, aiming to solve the problem of unreasonable allocation of RAM resources in the system in the prior art and affecting the operating efficiency of the system .

The technical scheme of the present invention is as follows:

A multi-task scheduling method based on a vehicle-mounted embedded system, the method comprising:

Classify tasks in advance, allocate corresponding RAM resources according to the type of tasks, set priorities for classified tasks, and assign all tasks to the same interface function;

Monitor the event signal, and obtain the task type of the event according to the event signal;

The corresponding scheduling operation is performed according to the priority corresponding to the task type of the event.

Further, classifying the tasks in advance includes:

Tasks are divided into startup tasks, request tasks, periodic tasks and idle tasks in advance.

Further, the setting of the priority according to the type of the task includes:

In advance, the priority levels of request tasks and periodic tasks are set to the highest priority, the priority level of startup tasks is set to the next highest priority, and the priority level of idle tasks is set to the lowest priority.

Further, the monitoring event signal obtains the task type of the event according to the event signal, including:

Monitor the event signal through the interface function to determine whether there is a valid event signal;

If there is a valid event signal, obtain the task type of the event according to the event signal.

Further, performing the corresponding scheduling operation according to the priority corresponding to the task type of the event includes:

If the task type of the event is the highest priority task, run the highest priority task;

After detecting that the task with the highest priority has finished running, release the signal and wait for the next event signal.

Further, performing the corresponding scheduling operation according to the priority corresponding to the task type of the event includes:

If the task type of the event is the next highest priority task, run the next highest priority task;

Release the signal after detecting that the task with the next highest priority has finished running.

Further, performing the corresponding scheduling operation according to the task type of the event further includes:

If the task type of the event is the lowest priority task, run the lowest priority task and obtain the subtasks in the lowest priority task;

Status monitoring of subtasks;

If it is detected that all subtasks have been executed, the control system enters a low power consumption mode.

Another embodiment of the present invention provides a multi-task scheduling device based on an in-vehicle embedded system, the device includes at least one processor; and,

a memory communicatively coupled to the at least one processor; wherein,

The memory stores instructions executable by the at least one processor, the instructions are executed by the at least one processor, so that the at least one processor can perform the above-mentioned multitasking scheduling based on the in-vehicle embedded system method.

Another embodiment of the present invention also provides a non-volatile computer-readable storage medium storing computer-executable instructions, the computer-executable instructions being stored by one or more When the processor executes, the one or more processors can be made to execute the above-mentioned multi-task scheduling method based on the in-vehicle embedded system.

Another embodiment of the present invention provides a computer program product, the computer program product including a computer program stored on a non-volatile computer-readable storage medium, the computer program including program instructions, when the program is When the instruction is executed by the processor, the processor is made to execute the above-mentioned multi-task scheduling method based on the in-vehicle embedded system.

Beneficial effects: The present invention discloses a multi-task scheduling method and device based on an in-vehicle embedded system. Compared with the prior art, the multi-task scheduling method and device provided by the present invention reduce the amount of time spent on system RAM resources during multi-task operation. Loss, reasonable allocation of system RAM resources, greatly reducing the RAM resource constraints on system design RAM; and improve the real-time performance of task operation.

Description of drawings

The present invention will be further described below in conjunction with the accompanying drawings and embodiments, in which:

Fig. 1 is the operation flow schematic diagram of the multi-task management system in the prior art;

2 is a schematic flowchart of a multi-task scheduling method based on an in-vehicle embedded system according to an embodiment of the present invention;

3 is a schematic diagram of a multi-task creation flow according to an embodiment of the present invention;

4 is a schematic diagram of a multi-type task scheduling process according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of an operation flow of a subtask management system according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a multi-task scheduling device based on an in-vehicle embedded system according to an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions and effects of the present invention clearer and clearer, the present invention will be described in further detail below. It should be understood that the specific embodiments described herein are only used to explain the present invention, but not to limit the present invention.

The embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

The embodiments of the present invention provide a multi-task scheduling method based on a vehicle-mounted embedded system. Please refer to FIG. 2 . FIG. 2 is a flowchart of a preferred embodiment of a multi-task scheduling method based on an in-vehicle embedded system of the present invention. As shown in Figure 2, the method includes:

Step S100, classifying tasks in advance, allocating corresponding RAM resources according to the types of tasks, setting priorities for the classified tasks, and assigning all tasks to the same interface function;

Step S200, monitoring the event signal, and obtaining the task type of the event according to the event signal;

Step S300: Execute the corresponding scheduling operation according to the priority corresponding to the task type of the event.

During specific implementation, the system in the embodiment of the present invention is an in-vehicle embedded real-time system, and the in-vehicle embedded real-time system is generally a system constructed based on an MCU. The system classifies the tasks it creates, and divides an independent RAM resource for each task category. The RAM resource corresponding to the task is also called the task stack space, and each task is executed in the task stack space of the corresponding category; Tasks are defined with different priorities. The system specifies the same interface function for all tasks, that is, through this interface function, the event signals corresponding to all tasks can be monitored.

The interface function monitors event signals, and after receiving valid event signals, obtains the task priorities corresponding to all valid event signals, and performs operations according to the priorities of the tasks corresponding to valid event signals. Generally, when there are multiple tasks at the same time, the task with higher priority is executed first.

The scheduling method of the embodiment of the present invention reduces the consumption of system RAM resources during multi-task operation, the system RAM resources are allocated reasonably, and the restriction of RAM resources on system design is greatly reduced; various types of tasks are executed independently without interfering with each other, which improves the system performance. Internal RAM resource utilization and system operating efficiency.

Further, the pre-classifying the tasks includes: pre-dividing the tasks into startup tasks, request tasks, periodic tasks and idle tasks.

Specifically, the multi-task scheduling system in the prior art performs scheduling based on priorities, and cannot schedule a specific task at a certain time. In the specification of automotive electronic product design, there are many designs (such as body network management tasks) that are required based on millisecond-level timing errors. Therefore, the time difference existing between task scheduling in the existing multi-task management system cannot meet the above-mentioned requirement of precise timing scheduling. In order to overcome the above-mentioned defects, the embodiments of the present invention divide multiple tasks into a startup class, a request class, a period class, and an idle class, and corresponding tasks can be executed according to different classes.

The startup tasks include, but are not limited to, initialization tasks, and for this type of tasks, the system is only executed once after startup. The request tasks include but are not limited to active request tasks and passive request tasks, and the system responds to requests of such tasks in real time. For example, the task of the interface (such as the CAN physical layer) that communicates with the on-board equipment has high real-time requirements and has two states of interrupted reception and active transmission. The periodic tasks include, but are not limited to, tasks with high requirements on cycle and error, such as vehicle body network management and realization of functions at various levels of vehicle body diagnostic services, which can be defined as periodic tasks for execution. The idle tasks include, but are not limited to, tasks that do not have high requirements for task real-time and error. According to the execution requirements of the tasks, the tasks are divided into types, and corresponding priorities are defined to ensure that the highest priority tasks are executed in time and improve the accuracy of the system. and real-time.

Further, the setting of the priority according to the type of the task includes:

In advance, the priority levels of request tasks and periodic tasks are set to the highest priority, the priority level of startup tasks is set to the next highest priority, and the priority level of idle tasks is set to the lowest priority.

During specific implementation, after the division of the stack space of each task is completed, a task priority is defined for each task type. For example, define the task priority of idle tasks as the lowest priority, and switch to idle tasks when the system is idle; define both request tasks and periodic tasks as the highest priority to ensure that the system responds to the request class the fastest The task or execution cycle task; the startup task is defined as the second highest priority, because the task scheduling will call this type of task first, and the startup task will be released after the execution is completed, without affecting the scheduling of other tasks. By setting the tasks that need to be executed in real time, such as periodic tasks, as the highest priority, on the basis of ensuring the normal operation of the system, the real-time performance of task scheduling is improved, and the specifications for real-time design of software systems in the development of automotive electronic products are met. .

Further, the monitoring event signal obtains the task type of the event according to the event signal, including:

Monitor the event signal through the interface function to determine whether there is a valid event signal;

If there is a valid event signal, obtain the task type of the event according to the event signal.

In the specific implementation, after the multi-task creation is completed, the system scheduling is started. Since the interface functions of each task are the same interface function, in the unified interface function, we monitor the event signals of each task for re-management. The startup task corresponds to the startup event signal, the request task corresponds to the request event signal, the periodic task corresponds to the periodic event signal, and the idle task corresponds to the idle event signal. When a valid event signal is detected, the task type of the event is obtained. Valid event signals give priority to high-priority tasks, and any task that receives a valid event signal will enter execution mode to ensure real-time response to high-priority tasks.

Further, performing the corresponding scheduling operation according to the priority corresponding to the task type of the event includes:

If the task type of the event is the task with the highest priority, the task with the highest priority will be run; after detecting that the task with the highest priority has finished running, release the signal and wait for the next event signal.

Specifically, if the task type of the event is a request task and a periodic task, based on the corresponding event signal state, the event signal of each task will only be triggered once, and when the event signal is valid, the task will be run; the current task is completed. After that, the event signal is released, waiting for the next valid event signal to occur. For example, the interface function monitors the event signal of the request class task; when the obtained request event signal is valid, the request class task corresponding to the request event signal is run; when the task finishes running, the request event signal is released; the interface function waits for the next time to obtain the request event signal. Request event signal.

Further, performing the corresponding scheduling operation according to the priority corresponding to the task type of the event includes:

If the task type of the event is the task of the second highest priority, the task of the second highest priority is run; after it is detected that the task of the second highest priority has finished running, the signal is released.

Specifically, if the task type of the event is a startup task, and an idle task is given a valid event signal when the system is scheduled to start, that is, when the startup event signal obtained by the interface function is valid, the startup task is executed.

Further, performing the corresponding scheduling operation according to the priority corresponding to the task type of the event further includes:

If the task type of the event is the lowest priority task, run the lowest priority task and obtain the subtasks in the lowest priority task;

Status monitoring of subtasks;

If it is detected that all subtasks have been executed, the control system enters a low power consumption mode.

In a specific implementation, when the start-up task finishes running, the start-up event signal is released. When the system executes the task, the startup task is executed first. The sub-task management system will be initiated and initialized in the idle class task and enter the cyclic operation state. It is necessary to confirm that all subtasks are executed as a precondition for system stop (low power consumption mode). Since the idle task is in the idle task stack space, when the cyclic running state is set, as long as there is an idle RAM resource in the idle task stack space, the idle task that meets the resource conditions can be executed. Improve task execution efficiency and resource utilization.

The embodiment of the present invention also provides a specific embodiment of multi-task creation based on the multi-task scheduling method of the vehicle-mounted embedded system. Exemplarily, as shown in FIG. 3 , the multi-task creation method includes:

Step S10, multi-task creation starts, and then steps S20, S30, S40 and S50 are executed;

Step S20, define a startup task, and then perform step S21;

Step S21, create a task stack space 1, and then execute step S22;

Step S22, define the startup task as the second highest priority, and then perform step S60;

Step S30, define a request class task, and then execute step S31;

Step S31, create a task stack space 2, and then execute step S32;

Step S32, define the request task as the highest priority, and then perform step S60;

Step S40, define a periodic task, and then execute step S41;

Step S41, create a task stack space 3, and then execute step S42;

Step S42, define the periodic task as the highest priority, and then perform step S60;

Step S50, define an idle class task, and then execute step S51;

Step S51, create a task stack space 4, and then execute step S52;

Step S52, define the idle task as the lowest priority, and then perform step S60;

Step S60, specify an identical interface function for all tasks, and then perform step S60;

In step S70, the multi-task creation is completed, and the system scheduling is started.

After the creation of the multitasking based on FIG. 3 is completed, the system scheduling is started. The embodiment of the present invention also provides a specific embodiment of the multitasking scheduling. Exemplarily, as shown in FIG. 4 , the multitasking scheduling method includes:

Step S70, the multi-task creation is completed, the system scheduling is started, and then step S80 is performed;

Step S80, the interface function monitors the event signals corresponding to all tasks, and judges whether a valid event signal is obtained; if a valid event signal is obtained, then perform step S81 and/or step S82/or step S83/or step S84; if not obtained If the event signal is valid, repeat step S80;

Step S81, the event signal obtained by the interface function is a valid startup event signal, and then step S811 is performed;

Step S811, run the startup task corresponding to the valid startup event signal, and then perform step S812;

Step S812, the operation of the task ends, and the event signal corresponding to the task is released;

Step S82, the event signal obtained by the interface function is a valid request event signal, and then step S821 is performed;

Step S821, run the request task corresponding to the valid request event signal, and then perform step S822;

Step S822, the task operation ends, release the event signal corresponding to the task, and then perform step S823;

Step S823, waiting to obtain the next request event signal, and then returning to step S80;

Step S83, the event signal obtained by the interface function is a valid period event signal, and then step S831 is performed;

Step S831, run the periodic task corresponding to the valid periodic event signal, and then execute step S832;

Step S832, the operation ends, release the signal, and then return to step S833;

Step S833, waiting for the acquisition of the next periodic event signal, and then returning to step S80;

Step S84, the event signal obtained by the interface function is a valid idle event signal, and then step S841 is performed;

Step S841, run the idle task corresponding to the valid idle event signal, and then execute step S842;

Step S842, the task operation ends, release the event signal corresponding to the task, and then perform step S843;

Step S843: Start the subtask management system, and then execute step S843 cyclically.

The embodiment of the present invention provides a specific embodiment of the operation process of the sub-task management system based on the multi-task scheduling method of the in-vehicle embedded system. Exemplarily, as shown in FIG. 5 , the sub-task management system creates a n subtasks; if the system does not obtain a valid event signal, the subtask management system cyclically executes the above n subtasks. where n is a positive integer greater than or equal to 1. The execution steps of each subtask are the same, and subtask 1 is used as an example for illustration. The execution steps of subtask 1 include:

Step S8431, create subtask 1, and then execute step S8432;

Step S8431, initialize subtask 1, and then execute step S8433;

Step S8433, start subtask 1, and then execute step S8434;

Step S8434, run subtask 1, and then execute step S8435;

In step S8435, subtask 1 enters the preparatory stop state, and then executes step S8436;

In step S8436, the subtask 1 stops running, and then returns to step S8433.

Specifically, the subtask management system is used to manage low-priority idle tasks. In the idle task, the tasks corresponding to each functional module are defined as subtasks, which are uniformly managed and cyclically scheduled by the subtask management system. Each subtask contains five states: initialize, start, run, prepare to stop, and stop, and is managed by the state machine of the respective subtask. Each subtask is independent of each other, but coordinated with each other. When the subtask management system is started and initialized, each subtask is uniformly initialized; after the initialization is completed, each subtask enters the startup state as required. It should be noted that after initializing all subtasks at the same time, the subtask management system only performs the startup operation for the subtasks that have startup requirements, and does not perform startup operations for the subtasks without startup requirements.

The subtasks in the starting state enter the state machine management of each subtask; before the subtask management system stops running, it is necessary to confirm that all the subtasks have entered the preparatory stop state, and then all the subtasks can enter the stop state at the same time, as a The prerequisite for the subtask management system to stop running. By setting the preparatory stop state, ensure that each subtask is in the stopped state before the subtask management system stops running. It is avoided that when some subtasks are completed and some subtasks are completed, the task management system needs to start and run repeatedly, thereby reducing the power consumption of system operation.

It should be noted that, in the above embodiments, the above steps do not necessarily have a certain sequence. Those of ordinary skill in the art can understand from the description of the embodiments of the present invention that in different embodiments, the above steps There can be different execution orders, that is, parallel execution, alternate execution, and so on.

Another embodiment of the present invention provides a multi-task scheduling device based on an in-vehicle embedded system. As shown in FIG. 6 , the device 10 includes:

One or more processors 110 and the memory 120 are described in the figure by taking one processor 110 as an example. The processor 110 and the memory 120 may be connected by a bus or in other ways, and the connection by a bus is taken as an example in the figure.

The processor 110 is used to complete various control logics of the device 10, which can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), a single-chip microcomputer, an ARM (Acorn RISCMachine) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, or any combination of these components. Also, the processor 110 may be any conventional processor, microprocessor or state machine. The processor 110 may also be implemented as a combination of computing devices, eg, a combination of a DSP and a microprocessor, multiple microprocessors, one or more microprocessors combined with a DSP core, or any other such configuration.

As a non-volatile computer-readable storage medium, the memory 120 can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the multi-device based on the in-vehicle embedded system in the embodiment of the present invention. The program instruction corresponding to the task scheduling method. The processor 110 executes various functional applications and data processing of the device 10 by running the non-volatile software programs, instructions and units stored in the memory 120, that is, to realize the multi-function based on the in-vehicle embedded system in the above method embodiments. Task scheduling method.

The memory 120 may include a storage program area and a storage data area, wherein the storage program area may store an application program required for operating the device, at least one function; the storage data area may store data created according to the use of the device 10, and the like. Additionally, memory 120 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, memory 120 may optionally include memory located remotely from processor 110, which may be connected to device 10 via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

One or more units are stored in the memory 120, and when executed by one or more processors 110, execute the multi-task scheduling method based on the in-vehicle embedded system in any of the above method embodiments, for example, execute steps S100 to S300 .

Embodiments of the present invention provide a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors. For example, by performing steps S100 to Step S300.

As examples, non-volatile storage media can include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) as external cache memory. By way of illustration, and not limitation, RAM can be configured in formats such as Synchronous RAM (SRAM), Dynamic RAM, (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), and Direct Rambus (Lambas) RAM (DRRAM) and many other forms. The disclosed memory components or memories of the operating environments described herein are intended to include one or more of these and/or any other suitable types of memory.

Another embodiment of the present invention provides a computer program product comprising a computer program stored on a non-volatile computer-readable storage medium, the computer program comprising program instructions that when executed by a processor , causing the processor to execute the multi-task scheduling method based on the in-vehicle embedded system of the above method embodiments. For example, steps S100 to S300 in FIG. 2 described above are performed.

The above-described embodiments are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place, Alternatively, it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

From the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a general hardware platform, and certainly can also be implemented by hardware. Based on this understanding, the above-mentioned technical solutions can be embodied in the form of software products in essence, or the parts that make contributions to related technologies. The computer software products can exist in computer-readable storage media, such as ROM/RAM, magnetic disks , optical disc, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to perform the methods of various embodiments or portions of embodiments.

Conditional language such as "could," "could," "may," or "could," among others, is generally intended to convey unless specifically stated otherwise or otherwise understood within the context as used Particular embodiments can include (while other embodiments do not include) particular features, elements, and/or operations. Thus, such conditional language is also generally intended to imply that the features, elements, and/or operations are irrelevant for one or more embodiments. All are required or one or more implementations must include logic to determine, with or without input or prompting, whether these features, elements and/or operations are included or to be performed in any particular implementation.

What has been described in this specification and the accompanying drawings herein includes examples that can provide a multitask scheduling method and apparatus based on an in-vehicle embedded system. Of course, not every conceivable combination of elements and/or methods has been described for the purpose of describing the various features of the present disclosure, but it will be appreciated that many additional combinations and permutations of the disclosed features are possible. Therefore, it will be apparent that various modifications can be made in the present disclosure without departing from the scope or spirit of the disclosure. In addition, or in the alternative, other embodiments of the present disclosure may be apparent from consideration of this specification and drawings, and from practice of the present disclosure as presented herein. It is intended that the examples presented in this specification and drawings are to be regarded in all respects as illustrative and not restrictive. Although specific terms are employed herein, they are used in a generic and descriptive sense and not for purposes of limitation.

Claims (10)

1. a multi-task scheduling method based on vehicle-mounted embedded system, is characterized in that, described method comprises: Classify tasks in advance, allocate corresponding RAM resources according to the type of tasks, set priorities for classified tasks, and assign all tasks to the same interface function; Monitor the event signal, and obtain the task type of the event according to the event signal; The corresponding scheduling operation is performed according to the priority corresponding to the task type of the event. 2. The multi-task scheduling method based on the in-vehicle embedded system according to claim 1, wherein the classification of the tasks in advance comprises: Tasks are divided into startup tasks, request tasks, periodic tasks and idle tasks in advance. 3. The multi-task scheduling method based on the in-vehicle embedded system according to claim 2, wherein the priority is set according to the type of the task, comprising: In advance, the priority levels of request tasks and periodic tasks are set to the highest priority, the priority level of startup tasks is set to the next highest priority, and the priority level of idle tasks is set to the lowest priority. 4. The multi-task scheduling method based on a vehicle-mounted embedded system according to claim 3, wherein the monitoring event signal obtains the task type of the event according to the event signal, comprising: Monitor the event signal through the interface function to determine whether there is a valid event signal; If there is a valid event signal, obtain the task type of the event according to the event signal. 5. The multi-task scheduling method based on the in-vehicle embedded system according to claim 4, wherein the performing the corresponding scheduling operation according to the priority corresponding to the task type of the event, comprising: If the task type of the event is the highest priority task, run the highest priority task; After detecting that the task with the highest priority has finished running, release the signal and wait for the next event signal. 6. The multi-task scheduling method based on an in-vehicle embedded system according to claim 4, wherein the execution of the corresponding scheduling operation according to the priority corresponding to the task type of the event, comprises: If the task type of the event is the next highest priority task, run the next highest priority task; Release the signal after detecting that the task with the next highest priority has finished running. 7. The multi-task scheduling method based on the in-vehicle embedded system according to claim 4, characterized in that, performing the corresponding scheduling operation according to the priority corresponding to the task type of the event, further comprising: If the task type of the event is the lowest priority task, run the lowest priority task and obtain the subtasks in the lowest priority task; Status monitoring of subtasks; If it is detected that all subtasks have been executed, the control system enters a low power consumption mode. 8. A multi-task scheduling device based on a vehicle-mounted embedded system, wherein the device comprises at least one processor; and, a memory communicatively coupled to the at least one processor; wherein, The memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the process of any one of claims 1-7 Multitask scheduling method based on vehicle embedded system. 9. A non-volatile computer-readable storage medium, characterized in that, the non-volatile computer-readable storage medium stores computer-executable instructions, when the computer-executable instructions are executed by one or more processors , the one or more processors can be made to execute the multi-task scheduling method based on the in-vehicle embedded system according to any one of claims 1-7. 10. A computer program product, characterized in that the computer program product comprises a computer program stored on a non-volatile computer-readable storage medium, the computer program comprising program instructions, when the program instructions are executed by a processor During execution, the processor is made to execute the multitask scheduling method based on the in-vehicle embedded system according to any one of claims 1-7.

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