We describe the software architecture of an automated vehicle control system implemented in the PATH lab. The system is responsible for automatic lateral and longitudinal control of a set of vehicles traveling in a platoon formation at close distance and at high speeds . The software architecture consists of a set of processes running concurrently and communicating through a publish/subscribe database. Some processes are triggered periodically by external inputs (e.g., from sensors) while others are triggered by events from other (internal) processes. We model the architecture as a set of periodic tasks each consisting of a sequence of sub-tasks with varying priorities [3,4]. We perform a schedulability analysis to check whether a set of timing requirements expressed as deadlines are met.
Tripakis, S. (2002). Description and schedulability analysis of the software architecture of an automated vehicle control system. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 2491, pp. 123–137). Springer Verlag. https://doi.org/10.1007/3-540-45828-x_10