Systematic Evaluation of Sandboxed Software Deployment for Real-time Software on the Example of a Self-Driving Heavy Vehicle
Paper i proceeding, 2016

Companies developing and maintaining software-only products like web shops aim for establishing persistent links to their software running in the field. Monitoring data from real usage scenarios allows for a number of improvements in the software life-cycle, such as quick identification and solution of issues, and elicitation of requirements from previously unexpected usage. While the processes of continuous integration, continuous deployment, and continuous experimentation using sandboxing technologies are becoming well established in said software-only products, adopting similar practices for the automotive domain is more complex mainly due to real-time and safety constraints. In this paper, we systematically evaluate sandboxed software deployment in the context of a self-driving heavy vehicle that participated in the 2016 Grand Cooperative Driving Challenge (GCDC) in The Netherlands. We measured the system’s scheduling precision after deploying applications in four different execution environments. Our results indicate that there is no significant difference in performance and overhead when sandboxed environments are used compared to natively deployed software. Thus, recent trends in software architecting, packaging, and maintenance using microservices encapsulated in sandboxes will help to realize similar software and system engineering for cyber-physical systems.

Cooperative driving

Intelligent vehicle highway systems

Software architecting

Cyber physical systems (CPSs)


Software life cycles

Continuous integrations

Intelligent systems

Execution environments

Systematic evaluation Engineering main heading: Life cycle

Embedded systems

Software deployment


Philip Masek

Chalmers, Data- och informationsteknik, Software Engineering

Thulin Magnus

Chalmers, Data- och informationsteknik, Software Engineering

Hugo Sica de Andrade

Chalmers, Data- och informationsteknik, Software Engineering

Christian Berger

Göteborgs universitet

Ola Benderius

Chalmers, Tillämpad mekanik, Fordonsteknik och autonoma system

Vehicle and Traffic Safety Centre at Chalmers

19th IEEE International Conference on Intelligent Transportation Systems, ITSC 2016; Rio de Janeiro; Brazil; 1-4 November

Art no 7795942, Pages 2398-2403
9781509018895 (ISBN)


Informations- och kommunikationsteknik




ReVeRe (Research Vehicle Resource)





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