Abstract
Reliability is the most important design issue for current autonomous vehicles. How to guarantee reliability and reduce hardware cost is key for the design of such complex control systems intertwined with scenario-related multi-period timing behaviors. The paper presents a reliability and resource-aware design framework for embedded implementation of such autonomous applications, where each scenario may have its own timing constraints. The constraints are formalized with the consideration of different redundancy based fault-tolerant techniques and software to hardware allocation choices, which capture the static and various causality relations of such systems. Both exact and heuristic-based methods have been implemented to derive the lower bound of hardware usage, in terms of processor, for the given reliability requirement. The case study on a realistic autonomous vehicle controller demonstrates the effectiveness and feasibility of the framework.
This work has been partly funded by the National Key Basic Research (973) Program of China under Grant No. 2014CB340701, Key Research Program of Frontier Sciences, CAS, under Grant No. QYZDJ-SSW-JSC036, the CAS-INRIA major project under No. GJHZ1844, the National Science Foundation of China under Grant No. U1435220, No. U1711265, and the Fundamental Research Funds for the Central Universities under grant No. 17lgjc40.
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Notes
- 1.
To ease the description, periods, computation costs (labelled on tasks) presented here are simplified.
- 2.
The smaller the value is, the more important the task is.
- 3.
We can also run the method to check the results in Table 7.
- 4.
As the cases of (120,12) and (107,11) coincidence with the case of (100,10), we ignore them in the figure.
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Acknowledgments
The authors would like to thank Jian Zhang and Feifei Ma for their assistance with the work and valuable comments on this paper.
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Yan, R., Zhu, D., Zhang, F., Lv, Y., Yang, J., Huang, K. (2018). Resource-Aware Design for Reliable Autonomous Applications with Multiple Periods. In: Havelund, K., Peleska, J., Roscoe, B., de Vink, E. (eds) Formal Methods. FM 2018. Lecture Notes in Computer Science(), vol 10951. Springer, Cham. https://doi.org/10.1007/978-3-319-95582-7_17
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