基于 MPSoC 平台的自动驾驶车辆故障运行控制

MPSoC-Based Platform for Fail-Operational Control of an Automated Research Vehicle

摘要:

在德国联邦研发项目UNICARagil中，开发了一个ECU，作为UNICARagil新颖的大脑架构的一部分。应用所谓的脑干部件，通过面向服务的架构，对全自动驾驶车辆进行安全关键的实时控制。本文介绍了该设备的硬件架构和基本软件架构，并列举了一些安全措施。重点是MPSoC和OS配置、ECU的更新过程和启动过程。回退实例系统可以保护它免受引导加载程序、内核或根文件系统以及开发过程中和应用现场中的严重错误的影响。最后，列举了设备在车辆环境中的功能。在众多的科学内容出版物和社交媒体上，笔者展示了以使用脑干为核心部件的车辆通过试验场的测试情况。

Abstract:

In the project UNICARagil， an ECU was developed that is part of the novel UNICARagil brain architecture［1］. The so-called brainstem was dedicated for safety-critical real-time control of a fully automated vehicle via a service-oriented architecture. This paper describes the hardware and basic software architecture of the device and points out some of the safety measures. The focus is on the MPSoC and OS configuration， the update process of the ECU， and the boot process. A system of fallback instances protects the ECU against critical errors in the bootloader， kernel or root file system， as well during the development process as in the field. Finally， this paper points out the functionality of the device in the vehicle context. In numerous publications in science and on social media， it presents the vehicle going over the proving ground with the brainstem as a central component.