Abstract
The adoption of autonomous driving (AD) software executed on high-performance multi-processor systems on chip (MPSoCs) contributes to increasing the overall system’s safety and efficiency. However, existing AD software frameworks are provided as complete implementations that do not follow any domain-specific safety-requirement centric development process. In this paper, we develop, for the first time, ISO 26262 dynamic views of a representative AD framework, Apollo. Dynamic views are a key element of software architectural design that links safety software requirements with their implementation, and are the basis to verify that all casuistics are properly considered in the design and tested in the validation tests. We also show that dynamic views miss key information of the execution parallelism of Apollo, needed to assess and improve execution efficiency to meet performance-related safety requirements and reduce resource utilization. We cover this gap by proposing execution views that capture the parallelism exploited by the analyzed application on the target MPSoC. Execution views improve greatly resource usage testing, which is required by ISO 26262, and allow better resource utilization contributing to the stringent cost-reduction requirements in automotive domains.
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The data supporting the results reported in this work are available from the authors upon reasonable request.
Notes
MPSoCs have been used in mainstream domains for years, but they are not fully adopted yet in embedded critical domains due to some of the difficulties they bring to the whole V &V process.
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Funding
This work has been supported by the Spanish Ministry of Science and Innovation under grant PID2019-107255GBC21/ AEI/10.13039/501100011033 and the European Research Council (ERC) grant agreement no. 772773 (SuPerCom).
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Appendix
Appendix
Dynamic view of perception's Lane post-processing node.
Dynamic view of perception's Fusion node
Dynamic view of perception's Motion Service node.
Dynamic view of perception's Radar node
Dynamic view of the prediction module
Dynamic view of the control module
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Alcon, M., Tabani, H., Abella, J. et al. Dynamic and execution views to improve validation, testing, and optimization of autonomous driving software. Software Qual J 31, 405–439 (2023). https://doi.org/10.1007/s11219-022-09609-x
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DOI: https://doi.org/10.1007/s11219-022-09609-x