Stefan Kowalewski

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.

Ventseslav Yordanov, Simon Schäfer, Alexander Mann et al.

While current onboard state estimation methods are adequate for most driving and safety-related applications, they do not provide insights into the interaction between tires and road surfaces. This paper explores a novel communication concept for efficiently transmitting integrated wheel sensor data from an ESP32 microcontroller. Our proposed approach utilizes a publish-subscribe system, surpassing comparable solutions in the literature regarding data transmission volume. We tested this approach on a drum tire test rig with our prototype sensors system utilizing a diverse selection of sample frequencies between 1 Hz and 32 000 Hz to demonstrate the efficacy of our communication concept. The implemented prototype sensor showcases minimal data loss, approximately 0.1 % of the sampled data, validating the reliability of our developed communication system. This work contributes to advancing real-time data acquisition, providing insights into optimizing integrated wheel sensor communication.

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.

Camelia Oprea, Mike Grüne, Mateusz Buglowski et al.

With the digitalization of health care systems, artificial intelligence becomes more present in medicine. Especially machine learning shows great potential for complex tasks such as time series classification, usually at the cost of transparency and comprehensibility. This leads to a lack of trust by humans and thus hinders its active usage. Explainable artificial intelligence tries to close this gap by providing insight into the decision-making process, the actual usefulness of its different methods is however unclear. This paper proposes a user study based evaluation of the explanation method Grad-CAM with application to a neural network for the classification of breaths in time series neonatal ventilation data. We present the perceived usefulness of the explainability method by different stakeholders, exposing the difficulty to achieve actual transparency and the wish for more in-depth explanations by many of the participants.

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.

Stefan Kowalewski, Bernhard Rumpe, Andre Stollenwerk

We discuss challenges to control systems engineering arising from the advent of cyber-physical systems (CPS). After discussing the terminology, general, IT-related issues are treated which need cooperation with computer science, in particular software engineering. Then we study those challenges that require specific core competencies from control systems engineering. We sketch solution approaches for the exemplary problem of dealing with changes in the physical environment of a CPS. ---- Der Beitrag befasst sich mit den methodischen Herausforderungen, die durch die Verbreitung der Cyber-Physical Systems (CPS) in der Automatisierungstechnik entstehen, und stellt Lösungsansätze vor. Nach einer Behandlung des Begriffs CPS werden zunächst die allgemeinen, IT-bezogenen Fragestellungen angesprochen, die gemeinsam mit der Informatik gelöst werden müssen. Danach gehen wir auf die Herausforderungen ein, deren Behandlung spezifisch automatisierungstechnische Kernkompetenzen erfordern und skizzieren für eine beispielhafte Problemstellung, den Umgang mit Änderungen in der physikalischen Umgebung, wie entsprechende Lösungen aussehen können.