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Research on a FLOSS Software Platform for Autonomous Driving Systems

Lukas Bulwahn, BMW Car IT GmbH, Germany
Tilmann Ochs, BMW Car IT GmbH, Germany
Daniel Wagner, BMW Car IT GmbH, Germany

Our paper describes research on a software platform for autonomous driving systems. The platform is based completely on open-source software. It uses Linux with the preempt-RT patches and the Robot Operating System (ROS). The system is defined and built using the OpenEmbedded/Yocto tools.

The requirements of this software stack are manifold: As the software stack is developed as safety element out-of-context, it must fulfill safety and real-time requirements besides the common functional requirements.

We describe the identified work packages. For example, we must validate the suitability of Linux's real-time mechanisms through real-time measurements, and the suitability of Linux's process isolation mechanisms for the coexistence of safety-critical and ordinary processes. This also includes certification activities, such as the SIL2LinuxMP project.

On the organisational side, the challenges are the cooperation of multiple Open Source communities, the establishment of a cross-industrial collaboration on design, development and certification activities, and different migration strategies in case of failure of some of the activities.