En-route: on enabling resource usage testing for autonomous driving frameworks

Software resource usage testing, including execution time bounds and memory, is a mandatory validation step during the integration of safety-related real-time systems. However, the inherent complexity of Autonomous Driving (AD) systems challenges current practice for resource usage testing. This paper exposes the difficulties to perform resource usage testing for AD frameworks by analyzing a complex and critical module of an AD framework, and provides some guidelines and practical evidence on how resource usage testing can be effectively performed, thus enabling end users to validate their safety-related real-time AD frameworks.This work has been partially supported by the Spanish Ministry of Economy and Competitiveness (MINECO) under grant TIN2015-65316-P, the UP2DATE European Union’s Horizon 2020 (H2020) research and innovation programme under grant agreement No 871465, and the HiPEAC Network of Excellence. MINECO partially supported Jaume Abella under Ramon y Cajal postdoctoral fellowship (RYC-2013-14717) and Leonidas Kosmidis under Juan de la Cierva-Formación postdoctoral fellowship (FJCI-2017-34095)Peer ReviewedPostprint (author's final draft