Libpanda: A High Performance Library for Vehicle Data Collection

Matthew Bunting, Rahul Bhadani, Jonathan Sprinkle

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Cyber-Physical Systems (CPS) generally involve time-critical components due to physical dynamics, therefore necessitating high-performance subsystems. This is also true in data collection scenarios to infer physical phenomena. This paper covers Libpanda as an example of a component that has been designed to address performance issues in CPS implementations. Libpanda is a C++ library that interfaces software with a Comma.ai Panda device. Pandas are used for installation in modern vehicles to read the vehicle CAN bus, providing rich sensor data and limited vehicle control through message injection. The motivation to design lib-panda stems from the lack of performance in Python-based code that runs on inexpensive hardware like a Raspberry Pi. In such situations, Python code would result in utilizing 92% CPU while also dropping around 40% of the CAN packet due to bottlenecks. Without using different tools, inconsistent data collection means a loss of time-based vehicle state interpretation. Libpanda addresses these issues through implementation in a different language and implementation of different design paradigms involving asynchronous calls and multithreading. The Panda also features a GPS module that allows multiple instances to synchronize clocks for large-scale data collection scenarios. Libpanda has been designed with time-synchronization in mind to aid in the measurement of inter-vehicle dynamics. The performance improvements of libpanda have resulted in it becoming an important component in automotive dynamics research that requires a higher technical performance in large-scale experiments.

Original languageEnglish (US)
Title of host publicationDICPS 2021 - Proceedings of the ACM 1st Workshop on Data-Driven and Intelligent Cyber-Physical Systems, Part of CPS-IoT Week 2021
PublisherAssociation for Computing Machinery, Inc
Pages32-40
Number of pages9
ISBN (Electronic)9781450384452
DOIs
StatePublished - May 18 2021
Event1st ACM Workshop on Data-Driven and Intelligent Cyber-Physical Systems, DICPS 2021 - Part of CPS-IoT Week 2021 - Virtual, Online, United States
Duration: May 18 2021 → …

Publication series

NameDICPS 2021 - Proceedings of the ACM 1st Workshop on Data-Driven and Intelligent Cyber-Physical Systems, Part of CPS-IoT Week 2021

Conference

Conference1st ACM Workshop on Data-Driven and Intelligent Cyber-Physical Systems, DICPS 2021 - Part of CPS-IoT Week 2021
Country/TerritoryUnited States
CityVirtual, Online
Period5/18/21 → …

Keywords

  • Cyber-Physical Systems
  • Data Collection
  • Software Libraries

ASJC Scopus subject areas

  • Computer Networks and Communications

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