用于资源有限设备的DDS通信中间件开发  

Development of DDS Communication Middleware for Resource-Limited Devices

作　　者：施文征 王成野 SHI Wenzheng;WANG Chengye(Intelligent Driving Solution R&D Center,Beijing Greenstone Technology Company Limited,Beijing 100080,China)

机构地区：[1]北京华玉通软科技有限公司智能驾驶解决方案研发中心,北京100080

出　　处：《汽车实用技术》2024年第11期40-46,共7页Automobile Applied Technology

摘　　要：鉴于汽车开放系统架构(AUTOSAR)经典平台(CP)和自适应平台(AP)将在车内长期共存的现状,在车内资源有限的设备上部署数据分发服务(DDS)已成为人们关注的热点问题。目前大多数DDS实现的体积相对较大,不适合部署在资源有限的嵌入式设备上。文章对针对如何在车辆场景中的资源有限设备上部署DDS进行了深入研究,对DDS功能进行了相关的调整和优化,使用C语言开发了一款轻量级的DDS通信中间件,并对其性能进行了对比分析。基于Vector的AUTOSAR工具链,完成了DDS在AUTOSAR/CP上的部署。同时在Xavier+TC397平台上基于自动泊车辅助(APA)场景进行了测试和验证,结果表明,基于DDS的通信工作正常,取得了良好的停车性能。Given the current situation that the automotive open system architecture(AUTOSAR)classic platform(CP)and adaptive platform(AP)will co-exist in vehicles for a long time,the deployment of data distribution service(DDS)on resource-limited devices in vehicles has become a hot issue of concern.Most DDS is relatively large and not suitable for deployment on embedded devices with limited resources presently.In this paper,an in-depth study is conducted on how to deploy DDS on resource-limited devices in vehicle scenarios.Relevant trimming and optimization of DDS functions are conducted,and a lightweight DDS communication middleware is developed using C language.The deployment of DDS on AUTOSAR/CP is completed based on AUTOSAR tool chains of Vector.The DDS is tested and validated on Xavier+TC397 platform based on automatic parking assist(APA)scenario in real vehicles.The results show that the communication based on DDS worked properly and a good parking performance is achieved.

关 键 词：数据分发服务 中间件 资源有限设备 AUTOSAR/CP 自主泊车 

分 类 号：TP319[自动化与计算机技术—计算机软件与理论] U462[自动化与计算机技术—计算机科学与技术]