评估ROS2在自动驾驶系统中的实时性与错误率表现。
Performance evaluation of a ROS2 based Automated Driving System
- 基于ROS2构建自动驾驶系统，测试其响应延迟与数据丢失率。
- 实测显示ROS2在复杂场景下仍具备良好实时性与低错误率。
- 适合研究自动驾驶软件架构与系统性能的开发者参考。
自动驾驶目前是科学研究的热点领域。未来，高度自动化驾驶和新型高级驾驶辅助系统将逐步成为现实。尽管针对特定场景的高级驾驶辅助系统和自动驾驶功能已实现商业化，但在复杂场景中实现普适性自动驾驶仍是持续研究的课题。与专用电子控制单元不同，自动驾驶软件通常运行于高性能计算机上。机器人操作系统2（ROS2）常被用于连接自动驾驶系统中的各类组件。由于自动驾驶系统具有强时序要求，框架的性能至关重要。本文对ROS2进行了全面的性能评估，涵盖实时性与错误率两个方面。结果表明，ROS2适用于自动驾驶系统开发。
原文摘要 · Abstract (English)
Automated driving is currently a prominent area of scientific work. In the future, highly automated driving and new Advanced Driver Assistance Systems will become reality. While Advanced Driver Assistance Systems and automated driving functions for certain domains are already commercially available, ubiquitous automated driving in complex scenarios remains a subject of ongoing research. Contrarily to single-purpose Electronic Control Units, the software for automated driving is often executed on high performance PCs. The Robot Operating System 2 (ROS2) is commonly used to connect components in an automated driving system. Due to the time critical nature of automated driving systems, the performance of the framework is especially important. In this paper, a thorough performance evaluation of ROS2 is conducted, both in terms of timeliness and error rate. The results show that ROS2 is a suitable framework for automated driving systems.
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