Distributed Object-Oriented Design of Autonomous Control Systems for Connected Vehicle Platoons

Abstract

The contribution of this paper is articulated around a new software design approach of autonomous control systems for connected vehicle platoons. Our control system is distributed and real-time based on object-oriented component-based method of design that brakes with the industrial traditions subject to cyclic OS-free approaches. We illustrate our design by relevant case studies of the longitudinal speed control widely studied in industrial and academic research around automotive platooning. Our software is mainly implemented using the Ada standard of programming (in particular the annexes D and E of real-time and distributed systems). The distribution in our software is managed by the versatile middleware PolyORB. The control scenarios and communication aspects covered by the case studies are animated by wheeled robot prototypes commanded by single-board ARM Cortex computers under real-time Linux kernels. Index Terms-Embedded systems, distributed architectures, object-oriented components, real-time, smart automotive systems, vehicle platooning.

A Methodology for the Design of Safety-Compliant and Secure Communication of Autonomous Vehicles

“…This methodology is supported by a dedicated tool, called CAT (Contract Analysis Tool), which integrates the different parts and drives the analysis engine. We present our results using a physical demonstration that employs model cars [17].…”

“…The related contracts are omitted functionality. For the sake of completeness, our prototype realizes also the automatic reduction of velocity of the system [17].…”

“…It supports different distribution models including CORBA and DSA but also the Ravenscar profile (a restricted tasking Ada subset used for hard real-time). Interoperability and service invocations between vehicles is simply implemented as method calls on references to remote objects [17].…”

“…Control run-time jobs of each robot are executed concurrently in deadline-sensitive periodic tasks. They have priority over system calls and scheduled using SCHED_FIFO enabled by the Ada dispatching policy FIFO_Within_Priorities [17]. The Contract V i 2V i+1 Latency on networking latency between two robots in the platoon is natively supported by the code 2 (see [17] for details).…”

Predictive Formal Analysis of Resilience in Cyber-Physical Systems

“…This exchange has three major drawbacks: it is error-prone by naming and processing the crude data, does not elucidate the interaction scenarios between subsystems during design, and hardens their verification. The standards and norms [7]- [9] governing the design of safety-critical (aeronautic, railway, automotive, etc) CPSs recommend component-based development and formal methods for design and verification, while providing reliable solutions to the above issues at the risk of blaming the whole system integrity and certification [10].…”