arXiv subjects

Ryudai Iwakami

Publications and source records attributed to Ryudai Iwakami.

2 recordsLinked to original sources

arXiv2026

BA-TRACE: Boundary-Aware Trace Reconstruction for Scenario-Based Evaluation of Mixed AUTOSAR Adaptive and ROS 2 Vehicular Embedded Systems

Modern vehicular embedded systems increasingly combine ROS 2-based autonomous-driving stacks with AUTOSAR Adaptive Platform (AUTOSAR AP). Such mixed stacks make scenario-based evaluation hard to interpret because execution paths cross DDS-SOME/IP middleware boundaries between ROS 2 and AUTOSAR AP. Existing simulators and tracing tools execute scenarios or collect platform-local traces but cannot reconstruct cross-domain data flows. This paper presents BA-TRACE, a boundary-aware trace reconstruction framework for scenario-based evaluation of mixed AUTOSAR AP and ROS 2 vehicular embedded systems. BA-TRACE combines ROS 2 trace events, AUTOSAR ara::log events, ARXML-derived structural dependencies, and bridge-level instrumentation to reconstruct an end-to-end execution graph across the DDS-SOME/IP boundary. A case study with an AWSIM/OpenSCENARIO-based object-detection and braking scenario shows that BA-TRACE reconstructs the expected cross-platform path and exposes boundary-specific latency such as point-cloud transfer overhead. The reconstructed topology is used as evidence of traceability, not as proof of behavioral correctness or safety.

cs.SE↗

arXiv2025

AUTOSAR AP and ROS 2 Collaboration Framework

The field of autonomous vehicle research is advancing rapidly, necessitating platforms that meet real-time performance, safety, and security requirements for practical deployment. AUTOSAR Adaptive Platform (AUTOSAR AP) is widely adopted in development to meet these criteria; however, licensing constraints and tool implementation challenges limit its use in research. Conversely, Robot Operating System 2 (ROS 2) is predominantly used in research within the autonomous driving domain, leading to a disparity between research and development platforms that hinders swift commercialization. This paper proposes a collaboration framework that enables AUTOSAR AP and ROS 2 to communicate with each other using a Data Distribution Service for Real-Time Systems (DDS). In contrast, AUTOSAR AP uses Scalable service-Oriented Middleware over IP (SOME/IP) for communication. The proposed framework bridges these protocol differences, ensuring seamless interaction between the two platforms. We validate the functionality and performance of our bridge converter through empirical analysis, demonstrating its efficiency in conversion time and ease of integration with ROS 2 tools. Furthermore, the availability of the proposed collaboration framework is improved by automatically generating a configuration file for the proposed bridge converter.

cs.RO↗