Multi-Partner Project: Scheduling-Deployment Workflow for Autonomous RoboRacer Driving Stacks in the HAL4SDV Project

The European-funded HAL4SDV project aims to advance European solutions in software-defined vehicles by introducing a hardware abstraction layer positioned between executed software and execution units. HAL4SDV includes over 60 partners across 12 countries and receives funding within the Chips Joint Undertaking under Horizon Europe since April 2024 and is coordinated by TTTech Computertechnik. The proposed hardware abstraction layer includes safety-critical scheduling and platform deployment of software tasks, and is motivated by the requirement for abstracted hardware with unified interfaces in centralized automotive architectures.This work presents a correct-by-construction workflow which is developed by academic partners to schedule and deploy periodic software tasks onto diverse execution units. The workflow facilitates the execution of the same task stack on multiple unit architectures and consists of a task model and scheduling algorithm, which is followed by platform deployment for diverse hardware units, ensuring safe execution. In this multi-partner project, a bandwidth regulation unit for hardware accelerators and a RISC-V-based multicore system with tightly coupled memories are used as target platforms.A RoboRacer driving stack is chosen for evaluation, showing the viability of our workflow to schedule autonomous driving functions. ... mehrTo show generalization capability, synthetic task sets are additionally used to validate our deployment workflow.