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

摘要

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.