How Fast is My Software? Latency Evaluation for a ROS 2 Autonomous Driving Software

Tobias Betz; Maximilian Schmeller; Harun Teper; Johannes Betz

doi:10.1109/IV55152.2023.10186585

How Fast is My Software? Latency Evaluation for a ROS 2 Autonomous Driving Software

Tobias Betz, Maximilian Schmeller, Harun Teper, Johannes Betz

Assistant Professorship of Autonomous Vehicle Systems

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Scopus citations

Abstract

Violations of real-time properties and high latencies have emerged as crucial issues in autonomous vehicles since they can lead to unwanted vehicle behavior and critical maneuvers. Our study aims to provide a comprehensive understanding of latencies in a software stack for autonomous vehicles. In this paper, we present an evaluation workflow to inspect software and the occurring latencies for ROS 2 applications. This workflow was used to analyze the open-source autonomous driving stack Autoware. Universe by showing the influence of different soft- and hardware configurations. Our focus is on the evaluation of end-to-end, communication, computation, and idle latencies. Based on the results, we show the bottlenecks and motivate future directions to optimize ROS 2 autonomous driving software.

Original language	English
Title of host publication	IV 2023 - IEEE Intelligent Vehicles Symposium, Proceedings
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798350346916
DOIs	https://doi.org/10.1109/IV55152.2023.10186585
State	Published - 2023
Event	34th IEEE Intelligent Vehicles Symposium, IV 2023 - Anchorage, United States Duration: 4 Jun 2023 → 7 Jun 2023

Publication series

Name	IEEE Intelligent Vehicles Symposium, Proceedings
Volume	2023-June

Conference

Conference	34th IEEE Intelligent Vehicles Symposium, IV 2023
Country/Territory	United States
City	Anchorage
Period	4/06/23 → 7/06/23

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10.1109/IV55152.2023.10186585

Cite this

Betz, T., Schmeller, M., Teper, H., & Betz, J. (2023). How Fast is My Software? Latency Evaluation for a ROS 2 Autonomous Driving Software. In IV 2023 - IEEE Intelligent Vehicles Symposium, Proceedings (IEEE Intelligent Vehicles Symposium, Proceedings; Vol. 2023-June). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IV55152.2023.10186585

@inproceedings{ed3d9ed7863a446d93b5d7186170f6f5,

title = "How Fast is My Software? Latency Evaluation for a ROS 2 Autonomous Driving Software",

abstract = "Violations of real-time properties and high latencies have emerged as crucial issues in autonomous vehicles since they can lead to unwanted vehicle behavior and critical maneuvers. Our study aims to provide a comprehensive understanding of latencies in a software stack for autonomous vehicles. In this paper, we present an evaluation workflow to inspect software and the occurring latencies for ROS 2 applications. This workflow was used to analyze the open-source autonomous driving stack Autoware. Universe by showing the influence of different soft- and hardware configurations. Our focus is on the evaluation of end-to-end, communication, computation, and idle latencies. Based on the results, we show the bottlenecks and motivate future directions to optimize ROS 2 autonomous driving software.",

author = "Tobias Betz and Maximilian Schmeller and Harun Teper and Johannes Betz",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 34th IEEE Intelligent Vehicles Symposium, IV 2023 ; Conference date: 04-06-2023 Through 07-06-2023",

year = "2023",

doi = "10.1109/IV55152.2023.10186585",

language = "English",

series = "IEEE Intelligent Vehicles Symposium, Proceedings",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "IV 2023 - IEEE Intelligent Vehicles Symposium, Proceedings",

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Betz, T, Schmeller, M, Teper, H & Betz, J 2023, How Fast is My Software? Latency Evaluation for a ROS 2 Autonomous Driving Software. in IV 2023 - IEEE Intelligent Vehicles Symposium, Proceedings. IEEE Intelligent Vehicles Symposium, Proceedings, vol. 2023-June, Institute of Electrical and Electronics Engineers Inc., 34th IEEE Intelligent Vehicles Symposium, IV 2023, Anchorage, United States, 4/06/23. https://doi.org/10.1109/IV55152.2023.10186585

How Fast is My Software? Latency Evaluation for a ROS 2 Autonomous Driving Software. / Betz, Tobias; Schmeller, Maximilian; Teper, Harun et al.
IV 2023 - IEEE Intelligent Vehicles Symposium, Proceedings. Institute of Electrical and Electronics Engineers Inc., 2023. (IEEE Intelligent Vehicles Symposium, Proceedings; Vol. 2023-June).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - How Fast is My Software? Latency Evaluation for a ROS 2 Autonomous Driving Software

AU - Betz, Tobias

AU - Schmeller, Maximilian

AU - Teper, Harun

AU - Betz, Johannes

PY - 2023

Y1 - 2023

N2 - Violations of real-time properties and high latencies have emerged as crucial issues in autonomous vehicles since they can lead to unwanted vehicle behavior and critical maneuvers. Our study aims to provide a comprehensive understanding of latencies in a software stack for autonomous vehicles. In this paper, we present an evaluation workflow to inspect software and the occurring latencies for ROS 2 applications. This workflow was used to analyze the open-source autonomous driving stack Autoware. Universe by showing the influence of different soft- and hardware configurations. Our focus is on the evaluation of end-to-end, communication, computation, and idle latencies. Based on the results, we show the bottlenecks and motivate future directions to optimize ROS 2 autonomous driving software.

AB - Violations of real-time properties and high latencies have emerged as crucial issues in autonomous vehicles since they can lead to unwanted vehicle behavior and critical maneuvers. Our study aims to provide a comprehensive understanding of latencies in a software stack for autonomous vehicles. In this paper, we present an evaluation workflow to inspect software and the occurring latencies for ROS 2 applications. This workflow was used to analyze the open-source autonomous driving stack Autoware. Universe by showing the influence of different soft- and hardware configurations. Our focus is on the evaluation of end-to-end, communication, computation, and idle latencies. Based on the results, we show the bottlenecks and motivate future directions to optimize ROS 2 autonomous driving software.

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DO - 10.1109/IV55152.2023.10186585

M3 - Conference contribution

AN - SCOPUS:85168013645

T3 - IEEE Intelligent Vehicles Symposium, Proceedings

BT - IV 2023 - IEEE Intelligent Vehicles Symposium, Proceedings

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 34th IEEE Intelligent Vehicles Symposium, IV 2023

Y2 - 4 June 2023 through 7 June 2023

ER -

How Fast is My Software? Latency Evaluation for a ROS 2 Autonomous Driving Software

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