Reference : FastCycle: A Message Sharing Framework for Modular Automated Driving Systems
E-prints/Working papers : Already available on another site
Engineering, computing & technology : Computer science
http://hdl.handle.net/10993/53000
FastCycle: A Message Sharing Framework for Modular Automated Driving Systems
English
Testouri, Mehdi mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > SEDAN >]
Elghazaly, Gamal mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > SEDAN]
Frank, Raphaël mailto [University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > SEDAN >]
28-Nov-2022
No
[en] middleware ; automated driving ; robotics
[en] Automated Driving Systems (ADS) have rapidly evolved in recent years and their architecture becomes sophisticated. Ensuring robustness, reliability and safety of performance is particularly important. The main challenge in building an ADS is the ability to meet certain stringent performance requirements in terms of both making safe operational decisions and finishing processing in real-time. Middlewares play a crucial role to handle these requirements in ADS. The way middlewares share data between the different system components has a direct impact on the overall performance, particularly the latency overhead. To this end, this paper presents FastCycle as a lightweight multi-threaded zero-copy messaging broker to meet the requirements of a high fidelity ADS in terms of modularity, real-time performance and security. We discuss the architecture and the main features of the proposed framework. Evaluation of the proposed framework based on standard metrics in comparison with popular middlewares used in robotics and automated driving shows the improved performance of our framework. The implementation of FastCycle and the associated comparisons with other frameworks are open sourced.
University of Luxembourg > Interdisciplinary Centre for Security, Reliability and Trust (SNT) > SEDAN
TERMINAL: EU INTERREG GR
Researchers ; Professionals ; Students
http://hdl.handle.net/10993/53000
10.48550/arXiv.2211.15495
https://arxiv.org/abs/2211.15495

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