Architecture platforms for future vehicles: a comparison of ROS2 and Adaptive AUTOSAR

摘要

Autonomous Vehicles (AVs) are supposed to be continuously updated, besides that they combine many diverse applications by various developers. Accordingly, they require flexible and dynamic software (SW) architectures. With communication paradigms changing from signal-based to service- oriented architectures (SOAs), long-established standards seem no longer sufficient. The AUTomotive Open System ARchi-tecture (AUTOSAR) Platform came up with the Adaptive standard to meet future automobile requirements. Alongside, while requirements of AV s and robotic systems are similar to a certain extent, the Robot Operating System (ROS) gets growing attention in the automotive environment. With the introduction of ROS2 and ROS2-based commercial solutions, the Adaptive AUTOSAR Platform seems not to be the only appropriate standard for developing high-performing SW architectures. This paper provides an overall picture of Adaptive AUTOSAR and ROS2 and evaluates ROS2 and its suitability in an auto-motive context based on the Adaptive AUTOSAR architecture. This research analyzes the extent to which ROS2 fulfills the functionality provided by Adaptive AUTOSAR.