Safe Software for Autonomous Mobility With Modern C++
summary
A safe real-time C++ framework for autonomous driving is implemented and integrated with ROS 2, targeting ISO 26262 constraints: compile-time fixed string types (two flavors: truncating or throwing), runtime-fixed vector for contiguous storage, per-type memory pools to avoid fragmentation, and a custom replacement for GCC’s exception allocators plus a lock-free exception buffer (open source) to make exceptions memory-static. Threads are created pre-runtime with priority configuration and priority inheritance; toolchain qualification and 100% branch coverage for ASIL D remain requirements and ongoing work.
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chapters (10)
- 0:00Introduction to safe C++
- 1:43Core safety definitions
- 3:34High-level requirements
- 5:07Qualified tool chains
- 7:12Static memory management
- 12:07Safe exception handling
- 14:29Testing and code coverage
- 16:25Real-time and threading
- 21:11Failure injection methods
- 25:04Audience Q&A
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