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Stochastic Response Time Analysis for Autonomous Vehicle Computing Systems
Hyoeun Lee, Kanghee Kim, Kilho Lee
http://doi.org/10.5626/JOK.2021.48.5.486
This paper presents a method of probabilistically analyzing the end-to-end response time from sensing to actuation in autonomous vehicle computing systems. The end-to-end response time is used to evaluate vehicle responsiveness and to derive various indicators of vehicle safety. For example, given the end-to-end response time from sensing an obstacle to stopping the vehicle, an upper limit of the vehicle’s speed may be defined. In addition, the proposed analysis may be used to determine how many computing resources should be invested in improving vehicle responsiveness. This paper proposes a safe analytical method under the assumption that ERF (Earliest Release First) scheduling is used and that each task is pinned to a certain CPU, and presents the results of the responsiveness of an open source autonomous driving stack called Autoware.
Software-Defined Networking Enabling Expeditious Forwarding Rule Management for Cyber-Physical Defense Systems
Kilho Lee, Taejune Park, Minsu Kim, Seungwon Shin, Insik Shin
http://doi.org/10.5626/JOK.2019.46.4.291
Recently, there has been an increased interest in Cyber-Physical Systems (CPSs) for national defense. CPSs consist of sensors, actuators, and computing elements which are connected through a network to perform complex tasks while interacting with the physical world. Therefore, CPSs inherently require a high level of real-time guarantee (temporal correctness), and the CPS networking systems require highly dynamic network management capabilities to satisfy the real-time constraints. This requirement can be supported by using Software-defined networking (SDN) through flexible network management. However, applying SDN to CPS networking systems raises several challenges, since SDN lacks consideration for handling real-time traffic, such as a long delay to update packet handling rules. This paper presents a novel SDN switch architecture that reduces the time delay required to change the packet handling rules significantly; it enables flexible network management without compromising the real-time requirements of network flows which are essential for the system safety. We implemented and evaluated the proposed architecture on top of real hardware. The evaluation showed that the proposed architecture resulted in 500 times faster rule management than the standard SDN architecture. We also implemented a fault recovery system by applying the proposed architecture. The fault recovery application proved that the proposed architecture can significantly improve the system safety.
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