diff --git a/sched/Kconfig b/sched/Kconfig
index 232c009f8c..635cbbb9ba 100644
--- a/sched/Kconfig
+++ b/sched/Kconfig
@@ -1939,3 +1939,12 @@ config GROUP_KILL_CHILDREN_TIMEOUT_MS
 		> 0 means wait timeout
 		= 0 means don't do kill signal
 
+config PID_INITIAL_COUNT
+	int "Initial length of pid table"
+	default 8 if DEFAULT_SMALL
+	default 16 if !DEFAULT_SMALL
+	---help---
+		This is the initial length of pid table, which the system
+		can still expand when needed. It is rounded up to power of
+		two by current implementation. If the number of threads in
+		your system is known at design time, setting this to it.
diff --git a/sched/init/nx_start.c b/sched/init/nx_start.c
index 1252ff9e6e..852ac5ab72 100644
--- a/sched/init/nx_start.c
+++ b/sched/init/nx_start.c
@@ -45,6 +45,7 @@
 #include <nuttx/binfmt/binfmt.h>
 #include <nuttx/drivers/drivers.h>
 #include <nuttx/init.h>
+#include <nuttx/lib/math32.h>
 
 #include "task/task.h"
 #include "sched/sched.h"
@@ -623,7 +624,7 @@ void nx_start(void)
 
   /* Initialize the logic that determine unique process IDs. */
 
-  g_npidhash = 4;
+  g_npidhash = 1 << LOG2_CEIL(CONFIG_PID_INITIAL_COUNT);
   while (g_npidhash <= CONFIG_SMP_NCPUS)
     {
       g_npidhash <<= 1;