论文标题
禁食：模块化自动驾驶系统的消息共享框架
FastCycle: A Message Sharing Framework for Modular Automated Driving Systems
论文作者
论文摘要
近年来，自动驾驶系统（AD）迅速发展，其建筑变得精致。确保稳健性，可靠性和性能的安全性特别重要。建立广告的主要挑战是能够在实时做出安全的操作决策和完成处理方面满足某些严格的绩效要求。在广告中处理这些要求，Middlewares发挥了至关重要的作用。 Middlewares共享不同系统组件之间的数据直接影响整体性能，尤其是延迟开销。为此，本文将禁食为轻量级的多线程零拷贝消息经纪人，以在模块化，实时性能和安全性方面满足高保真广告的要求。我们讨论拟议框架的架构和主要特征。与在机器人技术和自动驾驶中使用的流行中间Wares相比，基于标准指标的提议框架的评估表明，我们框架的性能提高了。禁食循环的实施以及与其他框架相关的比较是开源的。
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.
