How Fast is My Software? Latency Evaluation for a ROS 2 Autonomous Driving Software

Violations of real-time properties and high latencies have emerged as crucial issues in autonomous vehicles since they can lead to unwanted vehicle behavior and critical maneuvers. Our study aims to provide a comprehensive understanding of latencies in a software stack for autonomous vehicles. In th...

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Bibliographic Details
Published in2023 IEEE Intelligent Vehicles Symposium (IV) pp. 1 - 6
Main Authors Betz, Tobias, Schmeller, Maximilian, Teper, Harun, Betz, Johannes
Format Conference Proceeding
LanguageEnglish
Published IEEE 04.06.2023
Subjects
Autonomous vehicles
Behavioral sciences
Full stack
Hardware
Real-time systems
Software
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Summary:Violations of real-time properties and high latencies have emerged as crucial issues in autonomous vehicles since they can lead to unwanted vehicle behavior and critical maneuvers. Our study aims to provide a comprehensive understanding of latencies in a software stack for autonomous vehicles. In this paper, we present an evaluation workflow to inspect software and the occurring latencies for ROS 2 applications. This workflow was used to analyze the open-source autonomous driving stack Autoware. Universe by showing the influence of different soft- and hardware configurations. Our focus is on the evaluation of end-to-end, communication, computation, and idle latencies. Based on the results, we show the bottlenecks and motivate future directions to optimize ROS 2 autonomous driving software.
ISSN:2642-7214
DOI:10.1109/IV55152.2023.10186585