Online Latency Monitoring of Time-Sensitive Event Chains in Safety-Critical Applications
Jonas Peecka, Johannes Schlatowb and Rolf Ernstc
Institute of Computer and Network Engineering TU Braunschweig Braunschweig, Germany
apeeck@ida.ing.tu-bs.de
bschlatow@ida.ing.tu-bs.de
cernst@ida.ing.tu-bs.de
ABSTRACT
Highly-automated driving involves chains of perception, decision, and control functions. These functions involve dataintensive algorithms that motivate the use of a data-centric middleware and a service-oriented architecture. As an example we use the open-source project Autoware.Auto. The function chains define a safety-critical automated control task with weaklyhard real-time constraints. However, providing the required assurance by formal analysis is challenged by the complex hardware/software structure of these systems and their dynamics. We propose an approach that combines measurement, suitable distribution of deadline segments, and application-level online monitoring that serves to supervise the execution of serviceoriented software systems with multiple function chains and weakly-hard real-time constraints. We use DDS as middleware and apply it to an Autoware.Auto use case.
