Modern C++ as a modeling language for automated driving and human-robot collaboration

Proceedings of the ACM/IEEE 19th International Conference on Model Driven Engineering Languages and Systems Pub Date : 2016-10-02 DOI:10.1145/2976767.2976772

Daniel Tuchscherer, Alex Weibert, F. Tränkle

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引用次数: 3

Abstract

Signal-flow diagrams, state-space models and finite-state machines are established modeling concepts in embedded controller software development. However, in the emerging areas of automated driving and human-robot collaboration, the dynamic management of system and environmental objects is mandatory. For this, object-oriented concepts are required in addition to the established modeling concepts. This paper demonstrates the application of signal-flow diagrams together with object-oriented models in Modern C++ for the software development in the area of submicroscopic traffic control. Both the vehicle dynamics and the longitudinal controllers are modeled as signal-flow diagrams and state-space models. Above this control layer, the dynamic creation and removal of individual vehicles and environmental objects are modeled in Modern C++. Together with Boost odeint these models are directly represented on a high abstraction level. Modern C++ is no longer limited to programming but is used as an object-oriented modeling language both for reliable embedded software and simulation environments.

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现代c++作为自动驾驶和人机协作的建模语言

信号流图、状态空间模型和有限状态机是嵌入式控制器软件开发中常用的建模概念。然而，在自动驾驶和人机协作等新兴领域，系统和环境对象的动态管理是必须的。为此，除了已建立的建模概念之外，还需要面向对象的概念。本文论述了信号流图与面向对象模型在现代c++语言中在亚微观交通控制领域的软件开发中的应用。将车辆动力学和纵向控制器建模为信号流图和状态空间模型。在这个控制层之上，单个车辆和环境对象的动态创建和删除在现代c++中建模。与Boost odeint一起，这些模型直接在高抽象级别上表示。现代c++不再局限于编程，而是作为一种面向对象的建模语言，用于可靠的嵌入式软件和仿真环境。

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Proceedings of the ACM/IEEE 19th International Conference on Model Driven Engineering Languages and Systems

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