兼容ROS的自适应AUTOSAR面向服务通信研究

Research on Service-Oriented Communication of Adaptive AUTOSAR Compatible with ROS

概述车载面向服务通信中间件的发展背景和基本架构;分析了ROS和自适应AUTOSAR两平台的优劣特点以及互兼容需求;重点介绍了Vector公司自适应AUTOSAR平台中ARA::COM通信模块在linux系统下的实现机制;配置了自适应AUTOSAR应用中的基于SOME/IP的Arxml通信协议,基于车载以太网和进程间通信机制设计了同时复用ROS与自适应AUTOSAR服务的通信节点,根据车载场景和功能安全需求设计了自适应AUTOSAR节点监控ROS功能的应用,从而实现ROS与自适应AUTOSAR两个异构平台的互通互操作,并在树莓派raspberry pi 3开发板上验证。

This article summarizes the development background and basic architecture of vehicle-mounted service-oriented communication middleware;analyzes the advantages and disadvantages of the ROS and adaptive AUTOSAR platforms and the compatibility requirements;focuses on the ARA::COM communication module in Vector’s adaptive AUTOSAR platform Implementation mechanism under the Linux system;this article configures the Arxml communication protocol based on SOME/IP in the adaptive AUTOSAR application, and designs a communication node that reuses ROS and adaptive AUTOSAR services at the same time based on the vehicle Ethernet and inter-process communication mechanism. For vehicle scenarios and functional safety requirements, an adaptive AUTOSAR node is designed to monitor the ROS function application, so as to realize the interoperability of the two heterogeneous platforms of ROS and adaptive AUTOSAR, and verify it on the Raspberry Pi 3 development board.