{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,1]],"date-time":"2026-05-01T16:11:01Z","timestamp":1777651861441,"version":"3.51.4"},"reference-count":43,"publisher":"Springer Science and Business Media LLC","issue":"4","license":[{"start":{"date-parts":[[2022,2,27]],"date-time":"2022-02-27T00:00:00Z","timestamp":1645920000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"},{"start":{"date-parts":[[2022,2,27]],"date-time":"2022-02-27T00:00:00Z","timestamp":1645920000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Real-Time Syst"],"published-print":{"date-parts":[[2022,12]]},"DOI":"10.1007\/s11241-022-09379-6","type":"journal-article","created":{"date-parts":[[2022,2,27]],"date-time":"2022-02-27T14:02:25Z","timestamp":1645970545000},"page":"509-547","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Performance optimization of autonomous driving control under end-to-end deadlines"],"prefix":"10.1007","volume":"58","author":[{"given":"Yunhao","family":"Bai","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Li","family":"Li","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zejiang","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaorui","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Junmin","family":"Wang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2022,2,27]]},"reference":[{"key":"9379_CR1","doi-asserted-by":"crossref","unstructured":"Bai Y, Wang Z, Wang X, Wang J (2020) AutoE2E: end-to-end real-time middleware for autonomous driving control. In: IEEE international conference on distributed computing systems","DOI":"10.1109\/ICDCS47774.2020.00092"},{"key":"9379_CR2","doi-asserted-by":"crossref","unstructured":"Becker M, Dasari D, Mubeen S, Behnam M, Nolte T (2017) End-to-end timing analysis of cause-effect chains in automotive embedded systems. J Syst Arch 80:104\u2013113","DOI":"10.1016\/j.sysarc.2017.09.004"},{"key":"9379_CR3","doi-asserted-by":"crossref","unstructured":"Biondi A, Melani A, Marinoni M, Di\u00a0Natale M, Buttazzo G (2014) Exact interference of adaptive variable-rate tasks under fixed-priority scheduling. In: 2014 26th euromicro conference on real-time systems, pp 165\u2013174. IEEE","DOI":"10.1109\/ECRTS.2014.38"},{"key":"9379_CR4","doi-asserted-by":"crossref","unstructured":"Biondi A, Di\u00a0Natale M, Buttazzo G (2016) Performance-driven design of engine control tasks. In: 2016 ACM\/IEEE 7th international conference on cyber-physical systems (ICCPS), pp 1\u201310. IEEE","DOI":"10.1109\/ICCPS.2016.7479111"},{"key":"9379_CR5","unstructured":"Buttazzo GC, Lipari G, Abeni L (1998) Elastic task model for adaptive rate control. In: RTSS"},{"issue":"3","key":"9379_CR6","doi-asserted-by":"publisher","first-page":"289","DOI":"10.1109\/12.990127","volume":"51","author":"GC Buttazzo","year":"2002","unstructured":"Buttazzo GC, Lipari G, Caccamo M, Abeni L (2002) Elastic scheduling for flexible workload management. IEEE Trans. Comput. 51(3):289\u2013302","journal-title":"IEEE Trans. Comput."},{"key":"9379_CR7","doi-asserted-by":"crossref","unstructured":"Buttazzo GC, Bini E, Buttle D (2014) Rate-adaptive tasks: model, analysis, and design issues. In: DATE","DOI":"10.7873\/DATE.2014.266"},{"key":"9379_CR8","doi-asserted-by":"crossref","unstructured":"Chang W, Chakraborty S, et al (2016) Resource-aware automotive control systems design: a cyber-physical systems approach. Found Trends Electron Des Autom 10(4): 249\u2013369","DOI":"10.1561\/1000000045"},{"key":"9379_CR9","doi-asserted-by":"crossref","unstructured":"Chen YL (2016) A forward collision probability index based on the driving behavior. In: VTC-Fall","DOI":"10.1109\/VTCFall.2016.7880853"},{"key":"9379_CR10","doi-asserted-by":"crossref","unstructured":"Chen Y, Lu C, Koutsoukos X (2007) Optimal discrete rate adaptation for distributed real-time systems. In: RTSS","DOI":"10.1109\/RTSS.2007.39"},{"key":"9379_CR11","doi-asserted-by":"crossref","unstructured":"Chen M, Nolan C, Wang X, Adhikari S, Li F, Qi H (2009) Hierarchical utilization control for real-time and resilient power grid. In: ECRTS","DOI":"10.1109\/ECRTS.2009.19"},{"key":"9379_CR12","doi-asserted-by":"crossref","unstructured":"Davare A, Zhu Q, Di\u00a0Natale M, Pinello C, Kanajan S, Sangiovanni-Vincentelli A (2007) Period optimization for hard real-time distributed automotive systems. In: DAC","DOI":"10.1145\/1278480.1278553"},{"key":"9379_CR13","doi-asserted-by":"crossref","unstructured":"Davis RI, Burns A, Bril RJ, Lukkien JJ (2007) Controller area network (can) schedulability analysis: refuted, revisited and revised. Real-Time Syst 35(3):239\u2013272","DOI":"10.1007\/s11241-007-9012-7"},{"key":"9379_CR14","doi-asserted-by":"crossref","unstructured":"Ebert C, Jones C (2009) Embedded software: facts, figures, and future. Computer 42(4):42\u201352","DOI":"10.1109\/MC.2009.118"},{"key":"9379_CR15","unstructured":"Explanation of application in-terfaces of the chassis do-main. https:\/\/www.autosar.org\/fileadmin\/user_upload\/standards\/classic\/4-3\/AUTOSAR_EXP_AIChassis.pdf"},{"key":"9379_CR16","unstructured":"Feiertag N, Richter K, Nordlander J, Jonsson J (2009) A framework for end-to-end path delay calculation of automotive systems under different path semantics. In: RTSS"},{"key":"9379_CR17","doi-asserted-by":"publisher","first-page":"100","DOI":"10.1016\/j.jss.2017.12.033","volume":"138","author":"T Feld","year":"2018","unstructured":"Feld T, Biondi A, Davis RI, Buttazzo G, Slomka F (2018) A survey of schedulability analysis techniques for rate-dependent tasks. J Syst Softw 138:100\u2013107","journal-title":"Journal of Systems and Software"},{"key":"9379_CR18","unstructured":"Gill C, Orr J, Harris S (2018) Supporting graceful degradation through elasticity in mixed-criticality federated scheduling. In: Proceedings of 6th workshop on mixed criticality systems (WMC), RTSS, pp 19\u201324"},{"key":"9379_CR19","doi-asserted-by":"crossref","unstructured":"Giogio C,\u00a0Buttazzo EB, Buttle D (2014) Rate-adaptive tasks: model, analysis, and design issues. In: Design, automation test in Europe conference exhibition. IEEE","DOI":"10.7873\/DATE.2014.266"},{"key":"9379_CR20","doi-asserted-by":"crossref","unstructured":"Girault A, Pr\u00e9vot C, Quinton S, Henia R, Sordon N (2018) Improving and estimating the precision of bounds on the worst-case latency of task chains. In: IEEE transactions on computer-aided design of integrated circuits and systems","DOI":"10.1109\/TCAD.2018.2861016"},{"key":"9379_CR21","unstructured":"Goodrich MT, Tamassia R (2006) Algorithm design: foundation, analysis and internet examples. Wiley, New York"},{"key":"9379_CR22","doi-asserted-by":"crossref","unstructured":"Greco L, Fontanelli D, Bicchi A (2010) Design and stability analysis for anytime control via stochastic scheduling. In: IEEE transactions on automatic control","DOI":"10.1109\/TAC.2010.2058497"},{"key":"9379_CR23","unstructured":"Kim JE, Rogalla O, Kramer S, Hamann A (2009) Extracting, specifying and predicting software system properties in component based real-time embedded software development. In: ICSE"},{"key":"9379_CR24","doi-asserted-by":"crossref","unstructured":"Kim J, Lakshmanan K, Rajkumar R (2012) Rhythmic tasks: a new task model with continually varying periods for cyber-physical systems. In: 2012 IEEE\/ACM third international conference on cyber-physical systems, pp 55\u201364. IEEE","DOI":"10.1109\/ICCPS.2012.14"},{"key":"9379_CR25","unstructured":"Liu JWS (2000) Real-time systems. Prentice Hall, Hoboken"},{"key":"9379_CR26","doi-asserted-by":"crossref","unstructured":"Liu CL, Layland JW (1973) Scheduling algorithms for multiprogramming in a hard-real-time environment. J ACM","DOI":"10.1145\/321738.321743"},{"key":"9379_CR27","doi-asserted-by":"crossref","unstructured":"Lu C, Wang X, Koutsoukos X (2004) End-to-end utilization control in distributed real-time systems. In: ICDCS","DOI":"10.1109\/ICDCS.2004.1281612"},{"key":"9379_CR28","doi-asserted-by":"crossref","unstructured":"Lu C, Wang X, Koutsoukos X (2005) Feedback utilization control in distributed real-time systems with end-to-end tasks. In: IEEE transactions on parallel and distributed systems","DOI":"10.1109\/ICDCS.2004.1281612"},{"key":"9379_CR29","doi-asserted-by":"crossref","unstructured":"Markkula, G, et\u00a0al (2012) A review of near-collision driver behavior models. Hum Factors 54(6):1117\u20131143","DOI":"10.1177\/0018720812448474"},{"issue":"1","key":"9379_CR30","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1007\/s11081-011-9176-9","volume":"13","author":"J Mattingley","year":"2012","unstructured":"Mattingley J, Boyd S (2012) Cvxgen: a code generator for embedded convex optimization. Optim Eng 13(1):1\u201327","journal-title":"Optimization and Engineering"},{"key":"9379_CR31","unstructured":"Mehmed A (2020) Runtime monitoring for safe automated driving systems. dissertation, Malardalen University. http:\/\/mdh.diva-portal.org\/smash\/get\/diva2:1479230\/FULLTEXT02.pdf"},{"key":"9379_CR32","doi-asserted-by":"crossref","unstructured":"Orr J, Uribe JC, Gill C, Baruah S, Agrawal K, Dyke S, Prakash A, Bate I, Wong C, Adhikari S (2020) Elastic scheduling of parallel real-time tasks with discrete utilizations. In: Proceedings of the 28th international conference on real-time networks and systems, pp 117\u2013127","DOI":"10.1145\/3394810.3394824"},{"key":"9379_CR33","doi-asserted-by":"crossref","unstructured":"Rajeev A, Mohalik S, Dixit MG, Chokshi DB, Ramesh S (2010) Schedulability and end-to-end latency in distributed ecu networks: modeling and precise estimation. In: EMSOFT","DOI":"10.1145\/1879021.1879039"},{"key":"9379_CR34","doi-asserted-by":"crossref","unstructured":"Schnelle S, et\u00a0al (2018) A feedforward and feedback integrated lateral and longitudinal driver model for personalized advanced driver assistance systems. Mechatronics","DOI":"10.1016\/j.mechatronics.2018.02.007"},{"key":"9379_CR35","unstructured":"Steere DC, Goel A, Gruenberg J, McNamee D, Pu C, Walpole J (1999) A feedback-driven proportion allocator for real-rate scheduling. In: OSDI"},{"key":"9379_CR36","unstructured":"Svensson L (2021) Motion planning and control of automated vehicles in critical situations. dissertation, Kth Royal Institute of Technology. http:\/\/kth.diva-portal.org\/smash\/get\/diva2:1554346\/FULLTEXT01.pdf"},{"key":"9379_CR37","doi-asserted-by":"crossref","unstructured":"Utkin, V, Lee, H (2006) Chattering problem in sliding mode control systems. In: VSS","DOI":"10.1016\/B978-008044613-4.50002-1"},{"key":"9379_CR38","doi-asserted-by":"crossref","unstructured":"Verma R, Del\u00a0Vecchio D, Fathy HK (2008) Development of a scaled vehicle with longitudinal dynamics of an HMMWV for an its testbed. In: IEEE\/ASME transactions on mechatronics","DOI":"10.1109\/TMECH.2008.915820"},{"key":"9379_CR39","doi-asserted-by":"crossref","unstructured":"Wang Z, Wang J (2020) Personalized ground vehicle collision avoidance system: From a computational resource re-allocation perspective. In: 2020 IEEE intelligent vehicles symposium","DOI":"10.1109\/IV47402.2020.9304754"},{"key":"9379_CR40","doi-asserted-by":"crossref","unstructured":"Wang X, Jia D, Lu C, Koutsoukos X (2007) DEUCON: decentralized end-to-end utilization control for distributed real-time systems. IEEE Trans Parallel Distrib Syst 18(7): 996\u20131009","DOI":"10.1109\/TPDS.2007.1051"},{"key":"9379_CR41","doi-asserted-by":"crossref","unstructured":"Wang X, Chen Y, Lu C, Koutsoukos XD (2009a) Towards controllable distributed real-time systems with feasible utilization control. IEEE Trans Comput 58(8):1095\u20131110","DOI":"10.1109\/TC.2009.19"},{"key":"9379_CR42","doi-asserted-by":"crossref","unstructured":"Wang X, Fu X, Liu X, Gu Z (2009b) Power-aware cpu utilization control for distributed systems. In: RTAS","DOI":"10.1109\/RTAS.2009.12"},{"key":"9379_CR43","doi-asserted-by":"crossref","unstructured":"Wang Z, Bai Y, Wang J, Wang X (2018) Parameter selection of an ltv-mpc controller for vehicle path tracking considering cpu computational load. In: ASME","DOI":"10.1115\/DSCC2018-9129"}],"container-title":["Real-Time Systems"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11241-022-09379-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s11241-022-09379-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s11241-022-09379-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,9,19]],"date-time":"2024-09-19T10:56:21Z","timestamp":1726743381000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s11241-022-09379-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2022,2,27]]},"references-count":43,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2022,12]]}},"alternative-id":["9379"],"URL":"https:\/\/doi.org\/10.1007\/s11241-022-09379-6","relation":{},"ISSN":["0922-6443","1573-1383"],"issn-type":[{"value":"0922-6443","type":"print"},{"value":"1573-1383","type":"electronic"}],"subject":[],"published":{"date-parts":[[2022,2,27]]},"assertion":[{"value":"23 January 2022","order":1,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 February 2022","order":2,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}