分布式系统调试器IVD的系统实现

Realization of a distributed system detect-bed——IVD system

介绍了一个自主式智能车辆系统 AL V的分布式测试床 IVD系统 .并对 IVD系统的设计时目标综合性、分布式、实时性、可视化及可重现性进行了讨论 ;然后在介绍 AL V结构的基础上 ,详细地分析了 IVD系统 ,按实时在线调试和离线重放两种情况进行一一讨论 .该系统已在智能车辆 AL V系统开发及调试实验中得到应用 ,实验结果验证了该系统是进行在线实时观察和离线分析问题的强有力的工具 .

IDV (intelligent vehicle detect-bed) is a system level tool to help measure and evaluate the performance of ALV (autonomous intelligent vehicle), a multi agent system. The design target of IVD includes integration, distribution, real time, visualization and re-displaying, and it can work both online and off line. In both cases, it is comprised of two main parts. One is for visualization, the other is for data collection. We use a bulletin board to exchange the data between the two parts, to control the interval of re-displaying, and to synchronize two parts during off-line working. When working online, data are only visualized in 2D to achieve the requirement of real time. While off-line, data are also reflected in virtual environment. Experiments showed that IVD can reflect the performance of ALV visually and facilitate the process of ALV system test.