Skip to main content
SpringerLink
Log in

Systems Engineering and Architecting for Intelligent Autonomous Systems

  • Chapter
  • First Online:
Automated Driving

Abstract

This chapter provides practical insights into specific systems engineering and architecture considerations for building autonomous driving systems. It is aimed at the ambitious practitioner with a solid engineering background. We envision such a practitioner to be interested not just in concrete system implementations, but also in borrowing ideas from the general theory of intelligent systems to advance the state of autonomous driving.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Institutional subscriptions

Notes

  1. 1.

    This is the popular version. Turing actually framed a somewhat different test, as discussed in [37].

  2. 2.

    Although some libraries do provide bindings for other languages, in our experience C++ still dominates the scene.

References

  1. Methodology Guidelines When Using EAST-ADL2. Public deliverable 5.1.1 of the ATESST2 project (2010), http://www.atesst.org/home/liblocal/docs/ATESST2_Deliverable_D5.1.1_V1.1.pdf

  2. Automotive Grade Linux (2015), https://www.automotivelinux.org/

  3. Biologically Inspired Cognitive Architectures (BICA) Society. The MAPPED Repository (2015), http://bicasociety.org/mapped/

  4. Distributed Messaging with Zero MQ (2015), http://zeromq.org/

  5. FMI: Functional Mock-up Interface (2015), https://www.fmi-standard.org/

  6. IEEE Spectrum. How Google’s Autonomous Car Passed the First U.S. State Self-Driving Test (2015), http://spectrum.ieee.org/transportation/advanced-cars/how-googles-autonomous-car-passed-the-first-us-state-selfdriving-test

    Google Scholar 

  7. OSLC: Open Services for Lifecycle Collaboration (2015), http://open-services.net/

    Google Scholar 

  8. Oxford Dictionaries (2015), http://www.oxforddictionaries.com/definition/english/consciousness

  9. The ARCADIA MBSE method for systems, hardware and software architectural design (2015), https://www.polarsys.org/capella/arcadia.html

  10. The AUTOSAR Platform (2015), http://www.autosar.org/

  11. The Capella Graphical Modeling Workbench (2015), https://www.polarsys.org/capella/index.html

  12. The HAVE-it EU project. Deliverable D12.1 Architecture document (2015), http://haveit-eu.org/LH2Uploads/ItemsContent/24/HAVEit_212154_D12.1_Public.pdf

  13. The OMG MBSE Wiki page on Methodology and Metrics (2015), http://www.omgwiki.org/MBSE/doku.php?id=mbse:methodology

    Google Scholar 

  14. The OSEK-VDX portal (2015), http://www.osek-vdx.org/

  15. The PREEMPT_RT patch for the Linux kernel. Real-Time Linux Wiki (2015), https://rt.wiki.kernel.org

  16. The Unreal gaming engine (2015), https://www.unrealengine.com/

  17. The Xenomai solution for real-time Linux (2015), http://xenomai.org/

  18. A. Albinet, J.L. Boulanger, H. Dubois, M.A. Peraldi-Frati, Y. Sorel, Q.D. Van, Model-based methodology for requirements traceability in embedded systems, in Proceedings of 3rd European Conference on Model Driven Architecture Foundations and Applications, ECMDA’07, Haifa (2007), https://hal.inria.fr/inria-00413488

    Google Scholar 

  19. S. Behere, M. Törngren, Architecture challenges for intelligent autonomous machines: an industrial perspective, in Proceedings of the 13th International Conference on Intelligent Autonomous Machines, IAS-13 (Springer International Publishing, Berlin, 2014). http://link.springer.com/chapter/10.1007%2F978-3-319-08338-4_120

    Google Scholar 

  20. S. Behere, M. Törngren, A functional architecture for autonomous driving, in Proceedings of the First International Workshop on Automotive Software Architecture, WASA ’15 (ACM, New York, NY, 2015), pp. 3–10. doi:10.1145/2752489.2752491. http://doi.acm.org/10.1145/2752489.2752491

  21. S. Behere, M. Törngren, D. Chen, A reference architecture for cooperative driving. J. Syst. Archit. 59 (10, Part C), 1095–1112 (2013). doi:http://dx.doi.org/10.1016/j.sysarc.2013.05.014. http://www.sciencedirect.com/science/article/pii/S1383762113000957. Embedded Systems Software Architecture

  22. P. Bieber, F. Boniol, M. Boyer, E. Noulard, C. Pagetti, New challenges for future avionic architectures. Aerosp. Lab (4), 1–10 (2012)

    Google Scholar 

  23. B.W. Boehm, A spiral model of software development and enhancement. Computer 21 (5), 61–72 (1988)

    Article  Google Scholar 

  24. J. Bongard, H. Lipson, Automatic synthesis of multiple internal models through active exploration, in AAAI Fall Symposium: From Reactive to Anticipatory Cognitive Embodied Systems (2005)

    Google Scholar 

  25. J. Bongard, V. Zykov, H. Lipson, Resilient machines through continuous self-modeling. Science 314 (5802), 1118–1121 (2006)

    Article  Google Scholar 

  26. G. Bradski, The OpenCV library. Dr Dobb’s J. Softw. Tools (2000). http://www.drdobbs.com/open-source/the-opencv-library/184404319

    Google Scholar 

  27. P. Braun, M. Broy, F. Houdek, M. Kirchmayr, M. Müller, B. Penzenstadler, K. Pohl, T. Weyer, Guiding requirements engineering for software-intensive embedded systems in the automotive industry. Comput. Sci. Res. Dev. 29 (1), 21–43 (2014)

    Article  Google Scholar 

  28. M. Broy, Model-driven architecture-centric engineering of (embedded) software intensive systems: modeling theories and architectural milestones. Innov. Syst. Softw. Eng. 3 (1), 75–102 (2006). doi:10.1007/s11334-006-0011-y. http://link.springer.com/10.1007/s11334-006-0011-y

  29. M. Broy, Two sides of structuring multi-functional software systems: function hierarchy and component architecture, in 5th ACIS International Conference on Software Engineering Research, Management & Applications (SERA 2007) (2007), pp. 3–12. doi:10.1109/SERA.2007.129. http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4296910

  30. M. Broy, Software and system modeling: structured multi-view modeling, specification, design and implementation, in Conquering Complexity, ed. by M. Hinchey, L. Coyle (Springer, London, 2012), pp. 309–372

    Chapter  Google Scholar 

  31. M. Broy, F. Huber, B. Paech, B. Rumpe, K. Spies, Software and system modeling based on a unified formal semantics, in Requirements Targeting Software and Systems Engineering, ed. by M. Broy, B. Rumpe. Lecture Notes in Computer Science, vol. 1526 (Springer, Berlin, Heidelberg, 1998), pp. 43–68

    Google Scholar 

  32. H. Bruyninckx, Open robot control software: the OROCOS project, in Proceedings 2001 ICRA IEEE International Conference on Robotics and Automation (Cat No01CH37164), vol. 3 (2001), pp. 2523–2528. doi:10.1109/ROBOT.2001.933002. http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=933002

  33. A. Burns, The Ravenscar profile. Ada Lett. XIX (4), 49–52 (1999). doi:10.1145/340396.340450. http://doi.acm.org/10.1145/340396.340450

  34. D. Chalmers, The Conscious Mind: In Search of a Fundamental Theory. Oxford paperbacks (OUP, New York, 1996)

    Google Scholar 

  35. A. Chella, M. Cossentino, V. Seidita, C. Tona, An approach for the design of self-conscious agent for robotics, in Active Media Technology, ed. by A. An, P. Lingras, S. Petty, R. Huang. Lecture Notes in Computer Science, vol. 6335 (Springer, Berlin, Heidelberg, 2010), pp. 306–317

    Google Scholar 

  36. P. Cuenot, P. Frey, R. Johansson, The EAST-ADL architecture description language for automotive embedded software, in Model-Based Engineering of Embedded Real-Time Systems (springer, Berlin, Heidelberg, 2010), pp. 297–307. http://link.springer.com/chapter/10.1007%2F978-3-642-16277-0_11

    Google Scholar 

  37. D. Davidson, Turing’s test, in Modelling the Mind, ed. by K. Said (Oxford University Press, Oxford, 1990)

    Google Scholar 

  38. J.A. Estefan et al., Survey of model-based systems engineering (MBSE) methodologies. INCOSE MBSE Focus Group 25:8 (2007)

    Google Scholar 

  39. P.H. Feiler, B.A. Lewis, S. Vestal, The SAE Architecture Analysis and Design Language (AADL) a standard for engineering performance critical systems, in 2006 IEEE Conference on Computer Aided Control System Design, 2006 IEEE International Conference on Control Applications, 2006 IEEE International Symposium on Intelligent Control (2006). doi:10.1109/CACSD-CCA-ISIC.2006.4776814

  40. T. Ferris, On the methods of research for systems engineering, in Annual Conference on Systems Engineering Research (April 2009). http://cser.lboro.ac.uk/papers/S10-62.pdf

    Google Scholar 

  41. T. Ferris, Engineering design as research, in Research Methodologies, Innovations and Philosophies in Software Systems Engineering and Information Systems, IGI Global, ed. by M. Mora, O. Gelman, A.L. Steenkamp, M. Raisinghani (2012). doi:10.4018/978-1-4666-0179-6. http://services.igi-global.com/resolvedoi/resolve.aspx?doi=10.4018/978-1-4666-0179-6

  42. T. Fong, C. Thorpe, Vehicle teleoperation interfaces. Auton. Robots 11 (1), 9–18 (2001)

    Article  Google Scholar 

  43. K. Forsberg, H. Mooz, The relationship of systems engineering to the project cycle. Eng. Manag. J. 4 (3), 36–43 (1992)

    Article  Google Scholar 

  44. K. Forsberg, H. Mooz, Application of the “vee” to incremental and evolutionary development, in Systems Engineering in the Global Market Place (1995), pp. 801–808

    Google Scholar 

  45. D. Gamez, Progress in machine consciousness. Conscious. Cogn. 17 (3), 887–910 (2008)

    Article  Google Scholar 

  46. T. Henzinger, J. Sifakis, The embedded systems design challenge, in FM 2006: Formal Methods, ed. by J. Misra, T. Nipkow, E. Sekerinski. Lecture Notes in Computer Science, vol. 4085 (Springer, Berlin, Heidelberg, 2006), pp. 1–15

    Google Scholar 

  47. S. Hussain, Investigating architecture description languages (ADLs) a systematic literature review. Master’s thesis, Linköpings universitet, Linköping, 2013

    Google Scholar 

  48. A.L. Juarez Dominguez, Feature interaction detection in the automotive domain, in 2008 23rd IEEE/ACM International Conference on Automated Software Engineering (IEEE, 2008), pp. 521–524. doi:10.1109/ASE.2008.97. http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4639390

  49. E.Y. Kang, E.P. Enoiu, R. Marinescu, C. Seceleanu, P.Y. Schobbens, P. Pettersson, A methodology for formal analysis and verification of east-ADL models. Reliab. Eng. Syst. Saf. 120, 127–138 (2013). doi:http://dx.doi.org/10.1016/j.ress.2013.06.007

  50. H. Kopetz, The complexity challenge in embedded system design, in 2008 11th IEEE International Symposium on Object and Component-Oriented Real-Time Distributed Computing (ISORC) (IEEE, 2008), pp. 3–12. doi:10.1109/ISORC.2008.14. http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4519555 http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=4519555

  51. E.A. Lee, Computing needs time. Commun. ACM 52 (5), 70–79 (2009). doi:10.1145/1506409.1506426. http://doi.acm.org/10.1145/1506409.1506426

  52. P. Maes, Concepts and experiments in computational reflection, in Conference Proceedings on Object-Oriented Programming Systems, Languages and Applications, OOPSLA ’87 (ACM, New York, NY, 1987), pp. 147–155. doi:10.1145/38765.38821. http://doi.acm.org/10.1145/38765.38821

  53. I. Malavolta, H. Muccini, P. Pelliccione, D. Tamburri, Providing architectural languages and tools interoperability through model transformation technologies. IEEE Trans. Softw. Eng. 36 (1), 119–140 (2010). doi:10.1109/TSE.2009.51

    Article  Google Scholar 

  54. J. Mårtensson, A. Alam, S. Behere, The development of a cooperative heavy-duty vehicle for the GCDC 2011: team scoop. IEEE Trans. Intell. Transp. Syst. 13 (3), 1033–1049 (2012). doi:10.1109/TITS.2012.2204876. http://ieeexplore.ieee.org/lpdocs/epic03/wrapper.htm?arnumber=6236179 http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=6236179

  55. J. McCarthy, Making robots conscious of their mental states, in Working Notes of the AAAI Spring Symposium on Representing Mental States and Mechanisms, Menlo Park, CA, 1995

    Google Scholar 

  56. D. McDermott, Artificial intelligence and consciousness, in The Cambridge Handbook of Consciousness, ed. by P.D. Zelazo, M. Moscovitch, E. Thompson (Cambridge University Press, Cambridge, 2007), pp. 117–150. http://dx.doi.org/10.1017/CBO9780511816789.007. Books Online

  57. A. Metzger, Feature interactions in embedded control systems. Comput. Netw. 45 (5), 625–644 (2004). doi:10.1016/j.comnet.2004.03.002. http://linkinghub.elsevier.com/retrieve/pii/S138912860400043X

  58. M. Minsky, Matter, mind, and models, in Semantic Information Processing, ed. by M.L. Minsky (1968)

    Google Scholar 

  59. M. Montemerlo et al., Junior: the Stanford entry in the urban challenge. J. Field Rob. 25 (9), 569–597 (2008). http://onlinelibrary.wiley.com/doi/10.1002/rob.20258/abstract

    Article  Google Scholar 

  60. E. Nivel, K. Thórisson, Towards a programming paradigm for control systems with high levels of existential autonomy, in Artificial General Intelligence, ed. by K.U. Kühnberger, S. Rudolph, P. Wang. Lecture Notes in Computer Science, vol. 7999 (Springer, Berlin, Heidelberg, 2013), pp. 78–87

    Google Scholar 

  61. M. Odersky, L. Spoon, B. Venners, Programming in Scala: A Comprehensive Step-by-Step Guide, 2nd edn. (Artima Incorporation, Walnut Creek, 2011)

    Google Scholar 

  62. G. Pardo-Castellote, OMG data-distribution service: architectural overview, in Proceedings of the 2003 IEEE Conference on Military Communications - Volume I, MILCOM’03 (IEEE Computer Society, Washington, DC, 2003), pp. 242–247

    Google Scholar 

  63. F. Perotto, R. Vicari, L. Alvares, An autonomous intelligent agent architecture based on constructivist ai, in Artificial Intelligence Applications and Innovations, IFIP International Federation for Information Processing, vol. 154, ed. by M. Bramer, V. Devedzic (Springer US, 2004), pp. 103–115. http://link.springer.com/chapter/10.1007%2F1-4020-8151-0_10

  64. M. Quigley, K. Conley, B. Gerkey, J. Faust, T.B. Foote, J. Leibs, R. Wheeler, A.Y. Ng, ROS: an open-source robot operating system, in ICRA Workshop on Open Source Software (2009)

    Google Scholar 

  65. W.W. Royce, Managing the development of large software systems: concepts and techniques, in Proceedings of the 9th International Conference on Software Engineering, ICSE ’87 (IEEE Computer Society Press, Los Alamitos, CA, 1987), pp. 328–338

    Google Scholar 

  66. R.B. Rusu, S. Cousins, 3D is here: Point Cloud Library (PCL), in 2011 IEEE International Conference on Robotics and Automation (ICRA) (IEEE, 2011), pp. 1–4. doi:10.1109/icra.2011.5980567

  67. A.V. Samsonovich, Toward a unified catalog of implemented cognitive architectures, in Proceedings of the 2010 Conference on Biologically Inspired Cognitive Architectures 2010: Proceedings of the First Annual Meeting of the BICA Society (IOS Press, Amsterdam, 2010), pp. 195–244. http://dl.acm.org/citation.cfm?id=1893313.1893352

    Google Scholar 

  68. S. Sarma, N. Dutt, P. Gupta, A. Nicolau, N. Venkatasubramanian, On-chip self-awareness using cyberphysical-systems-on-chip (CPSOC), in Proceedings of the 2014 International Conference on Hardware/Software Codesign and System Synthesis, CODES ’14 (ACM, New York, NY, 2014), pp. 22:1–22:3. doi:10.1145/2656075.2661648. http://doi.acm.org/10.1145/2656075.2661648

  69. K.R. Thórisson, From constructionist to constructivist ai, in AAAI Fall Symposium: Biologically Inspired Cognitive Architectures (2009)

    Google Scholar 

  70. K.R. Thórisson, A New Constructivist AI: From Manual Methods to Self-constructive Systems (2012). doi:10.2991/978-94-91216-62-6_9

    Article  Google Scholar 

  71. K.R. Thórisson, A new constructivist ai: from manual methods to self-constructive systems, in Theoretical Foundations of Artificial General Intelligence, Atlantis Thinking Machines, vol. 4, ed. by P. Wang, B. Goertzel (Atlantis Press, Amsterdam, 2012), pp. 145–171

    Chapter  Google Scholar 

  72. K.R. Thórisson, H.P. Helgason, Cognitive architectures and autonomy: a comparative review. J. Artif. Gen. Intell. 3 (2), 1–30 (2012). doi:10.2478/v10229-011-0015-3. http://dx.doi.org/10.2478/v10229-011-0015-3

  73. K.R. Thórisson, H. Benko, D. Abramov, A. Arnold, S. Maskey, A. Vaseekaran, Constructionist design methodology for interactive intelligences. AI Mag. 25 (4), 77 (2004)

    Google Scholar 

  74. M.Törngren, A. Qamar, M. Biehl, F. Loiret, J. El-khoury, Integrating viewpoints in the development of mechatronic products. Mechatronics 24 (7), 745–762 (2014)

    Article  Google Scholar 

  75. A.M. Turing, Computing machinery and intelligence. Mind 59 (236), 433–460 (1950). http://www.jstor.org/stable/2251299

    Article  MathSciNet  Google Scholar 

  76. R. Van Gulick, Consciousness, in The Stanford Encyclopedia of Philosophy, Spring 2014 edn., ed. by E.N. Zalta (2014). http://plato.stanford.edu/entries/consciousness/

  77. O. Wallmark et al., Design and implementation of an experimental research and concept demonstration vehicle, in Vehicle Power and Propulsion Conference (VPPC), 2014 (IEEE, 2014), pp. 1–6. doi:10.1109/VPPC.2014.7007042

  78. J. Westman, M. Nyberg, A reference example on the specification of safety requirements using ISO 26262, in SAFECOMP 2013 - Workshop DECS (ERCIM/EWICS Workshop on Dependable Embedded and Cyber-physical Systems) of the 32nd International Conference on Computer Safety, Reliability and Security, France, ed. by M. Roy p NA (2013). https://hal.archives-ouvertes.fr/hal-00848610

  79. J. Westman, M. Nyberg, M. Törngren, Structuring safety requirements in ISO 26262 using contract theory, in Computer Safety, Reliability, and Security, ed. by F. Bitsch, J. Guiochet, M. Kaâniche. Lecture Notes in Computer Science, vol. 8153 (Springer, Berlin, Heidelberg, 2013), pp. 166–177

    Google Scholar 

  80. J. Ziegler et al., Making bertha drive: an autonomous journey on a historic route. IEEE Intell. Transp. Syst. Mag. 6 (2), 8–20 (2014). doi:10.1109/MITS.2014.2306552

    Article  Google Scholar 

  81. H.P. Zima, M.L. James, P.L. Springer, Fault-tolerant on-board computing for robotic space missions. Concurr. Comput. Pract. Exp. 23 (17), 2192–2204 (2011). doi:10.1002/cpe.1768. http://dx.doi.org/10.1002/cpe.1768

Download references

Author information

Authors and Affiliations

  1. KTH Royal Institute of Technology, Stockholm, Sweden

    Sagar Behere & Martin Törngren

Authors
  1. Sagar Behere
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Martin Törngren
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Sagar Behere .

Editor information

Editors and Affiliations

  1. Institute of Electrical Measurement and Measurement Signal Processing, Virtual Vehicle Research Center and Graz University of Technology, Graz, Austria

    Daniel Watzenig

  2. Institute of Automation and Control, Graz University of Technology, Graz, Austria

    Martin Horn

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing Switzerland

About this chapter

Cite this chapter

Behere, S., Törngren, M. (2017). Systems Engineering and Architecting for Intelligent Autonomous Systems. In: Watzenig, D., Horn, M. (eds) Automated Driving. Springer, Cham. https://doi.org/10.1007/978-3-319-31895-0_13

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-31895-0_13

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-31893-6

  • Online ISBN: 978-3-319-31895-0

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation