Alexandru Kampmann

Marius Molz, Niels Schneider, Sven Lechner et al.

The Rust programming language is increasingly being considered for safety-critical system development. However, established safety standards such as ISO 26262 require the use of coding guidelines that do not yet exist for Rust. This paper systematically examines each of the 179 MISRA C++ 2023 coding guidelines and classifies them into 6 categories based on their applicability to Rust. Our approach analyzes the rationale behind each MISRA rule to determine whether it remains valid in the Rust programming context. We find that 47.75% of the 111 as-is applicable MISRA rules are automatically enforced by Rust's language design, eliminating the need for explicit guideline enforcement. Furthermore, our analysis explicitly distinguishes between safe and unsafe Rust. We find that 69 guidelines are still relevant and still require either direct application or adaptation for Rust. Importantly, 36 of these rules are automatically satisfied when only using the safe subset of the Rust language. However, they are required again if unsafe Rust features are introduced. We also identify specific areas where new Rust-specific guidelines are needed. Where a guideline does not directly translate, we propose Rust-specific adaptations that preserve its intent. All mapping results and supporting artifacts are publicly available as open-source materials at https://github.com/embedded-software-laboratory/MISRust.

Lucas Hegerath, David Philipp Klüner, Philipp Pelcz et al.

In software-defined vehicles, automotive middleware plays a fundamental role in enabling efficient communication, integration, and coordination among software components. This paper examines how well two of the currently most popular middleware frameworks, ROS 2 Jazzy and AUTOSAR Adaptive Platform R24-11, meet practical requirements elicited from automotive software engineers at one of the major automotive supplier companies, ZF Group. Our objective is to provide insight into an otherwise difficult-to-obtain industrial perspective and support a clearer understanding of priorities in the development and evaluation of middleware for automotive applications.

Richard Schubert, Marvin Loba, Alexander Blödel et al.

This paper presents a process for coordinating stakeholders in their consideration of performance indicators and respective interface requirements for automated vehicles. These performance indicators are obtained and processed based on the system's self-perception and enable the realization of self-aware and self-adaptive vehicles. This is necessary to allow SAE Level 4 vehicles to handle external disturbances as well as internal degradations and failures at runtime. Without such a systematic process for stakeholder coordination, architectural decisions on realizing self-perception become untraceable and effective communication between stakeholders may be compromised. Our process-oriented approach includes necessary ingredients, steps, and artifacts that explicitly address stakeholder communication, traceability, and knowledge transfer through clear documentation. Our approach is based on the experience gained from applying the process in the autotech.agil project, from which we further present lessons learned, identified gaps, and steps for future work.

Maximilian Kloock, Patrick Scheffe, Janis Maczijewski et al.

This paper introduces our Cyber-Physical Mobility Lab (CPM Lab). It is an open-source development environment for networked and autonomous vehicles with focus on networked decision-making, trajectory planning, and control. The CPM Lab hosts 20 physical model-scale vehicles (μCars) which we can seamlessly extend by unlimited simulated vehicles. The code and construction plans are publicly available to enable rebuilding the CPM Lab. Our four-layered architecture enables the seamless use of the same software in simulations and in experiments without any further adaptions. A Data Distribution Service (DDS) based middleware allows adapting the number of vehicles during experiments in a seamless manner. The middleware is also responsible for synchronizing all entities following a logical execution time approach to achieve determinism and reproducibility of experiments. This approach makes the CPM Lab a unique platform for rapid functional prototyping of networked decision-making algorithms. The CPM Lab allows researchers as well as students from different disciplines to see their ideas developing into reality. We demonstrate its capabilities using two example experiments. We are working on a remote access to the CPM Lab via a webinterface.

Patrick Scheffe, Janis Maczijewski, Maximilian Kloock et al.

This paper presents the $\mathrmμ$Car, a 1:18 model-scale vehicle with Ackermann steering geometry developed for experiments in networked and autonomous driving in research and education. The vehicle is open source, moderately costed and highly flexible, which allows for many applications. It is equipped with an inertial measurement unit and an odometer and obtains its pose via WLAN from an indoor positioning system. The two supported operating modes for controlling the vehicle are (1) computing control inputs on external hardware, transmitting them via WLAN and applying received inputs to the actuators and (2) transmitting a reference trajectory via WLAN, which is then followed by a controller running on the onboard Raspberry Pi Zero W. The design allows identical vehicles to be used at the same time in order to conduct experiments with a large amount of networked agents.

Alexandru Kampmann, Michael Lamberti, Nikola Petrovic et al.

This paper demonstrates a system comprised of infrared beacons and a camera equipped with an optical band-pass filter. Our system can reliably detect and identify individual beacons at 100m distance regardless of lighting conditions. We describe the camera and beacon design as well as the image processing pipeline in detail. In our experiments, we investigate and demonstrate the ability of the system to recognize our beacons in both daytime and nighttime conditions. High precision localization is a key enabler for automated vehicles but remains unsolved, despite strong recent improvements. Our low-cost, infrastructure-based approach is a potential step towards solving the localization problem. All datasets are made available here https://embedded.rwth-aachen.de/doku.php?id=forschung:mobility:infralocalization:concept.