Implementing a Real-Time Middleware Based on DDS for the Cooperative Vehicle Infrastructure Systems

It is well known that future vehicles will be equipped with Vehicle-to-Vehicle or Vehicle-to-Infrastructure systems (V2X systems where V designates Vehicle and X designates Vehicle or Infrastructure), providing the driver with the actual traffic conditions on the whole route and detailed information about the road. Due to the development of new services, a car becomes a third Internet space succeeding offices and home. In this context, V2X needs the realization of Cooperative Vehicle Infrastructure Systems (CVIS) which includes vehicle specific applications, application facilities, Middleware services, and specific platform and communication access services. The Open Services Gateway initiative (OSGi) is proposed as a middleware for CVIS to deliver of managed services to networked environments, such as homes and automobiles. It seems the use of the Automotive Open Systems Architecture (AUTOSAR) by some car manufacturers; however both of them do not support Quality of Service (QoS). We propose in this paper the use of the OMG´s Data Distribution Service (DDS), based on Publish/Subscribe model, instead of OSGi or AUTOSAR. The overall types of exchanged information are Data-Centric and DDS is well suitable for this type of exchanges. Conjointly with the use of the low layer protocols addressed by the standards ISO 21215 and ISO 21218, we believe that DDS and these standards will play the key role in future Inter-Vehicular Communication Systems (IVCS). We analyze, in this paper, the influence of errors on DDS of CVIS nodes and compare it to Request-Reply brokers. Our goal here is to estimate the average number of lost events by a subscriber or by a callback object and then to calculate the average time of the system´s evolution loss of pursuit point of view.