An autonomous vehicle using a multi-thread and event-driven processor
Touta Hayashi, Kenji Ohmori · 2011
The conventional microcomputers often used in autonomous vehicles suffer from the disadvantage of having long complex codes containing unavoidable bugs. This paper describes how to resolve the complexity of both software and hardware development of an embedded system using a new XMOS processor that can perform concurrent processes. In recent years, more and more software controllers have been installed in many parts of a vehicle. Conventional microcomputers based on sequential execution are unsuitable for concurrent processes in a realtime system. So-called spaghetti codes with their insufficient interruption handling bring about serious problems. In contrast, an event-driven, multi-thread XMOS processor can accommodate simple and user-friendly codes using highly abstract modeling. A secure embedded system that takes advantage of event-driven, multi-thread processors has been developed for a radio-controlled car with some sensors and simple codes on an XMOSX K-1 board. Successful results have been obtained with modest efforts.