In recent years, the complexity and scale of embedded systems, especially in the rapidly developing field of autonomous driving systems, have increased significantly. This has led to the adoption of software and hardware approaches such as Robot Operating System (ROS) 2 and multi-core processors. Traditional manual program parallelization faces challenges, including maintaining data integrity and avoiding concurrency issues such as deadlocks. While model-based development (MBD) automates this process, it encounters difficulties with the integration of modern frameworks such as ROS 2 in multi-input scenarios. This paper proposes an MBD framework to overcome these issues, categorizing ROS 2-compatible Simulink models into event-driven and timer-driven types for targeted parallelization. As a result, it extends the conventional parallelization by MBD and supports parallelized code generation for ROS 2-based models with multiple inputs. The evaluation results show that after applying parallelization with the proposed framework, all patterns show a reduction in execution time, confirming the effectiveness of parallelization.