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.