用于资源有限设备的 DDS 通信中间件开发

doi:10.16638/j.cnki.1671-7988.2024.011.008

汽车实用技术 ›› 2024, Vol. 49 ›› Issue (11): 40-46.DOI: 10.16638/j.cnki.1671-7988.2024.011.008

• 智能网联汽车 • 上一篇

用于资源有限设备的 DDS 通信中间件开发

施文征，王成野

北京华玉通软科技有限公司智能驾驶解决方案研发中心

发布日期:2024-06-26
通讯作者: 施文征
作者简介:施文征（1991－），男，硕士，高级工程师，研究方向为智能驾驶系统的软硬件系统集成和功能开发， E-mail:shiwenzheng2010@outlook.com。

Development of DDS Communication Middleware for Resource-Limited Devices

SHI Wenzheng, WANG Chengye

Intelligent Driving Solution R&D Center, Beijing Greenstone Technology Company Limited

Published:2024-06-26
Contact: SHI Wenzheng

摘要/Abstract

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。

关键词: 数据分发服务；中间件；资源有限设备；AUTOSAR/CP；自主泊车

Abstract: 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.

Key words: Data distribution service; Middle ware; Resource-limited devices; AUTOSAR/CP; Automatic parking assist

施文征. 用于资源有限设备的 DDS 通信中间件开发[J]. 汽车实用技术, 2024, 49(11): 40-46.

SHI Wenzheng. Development of DDS Communication Middleware for Resource-Limited Devices[J]. Automobile Applied Technology, 2024, 49(11): 40-46.

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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

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