This paper offers a tutorial on current middlewares in automated vehicles. Our aim is to provide the reader with an overview of current middlewares and to identify open challenges in this field. We start by explaining the fundamentals of software architecture in distributed systems and the distinguishing requirements of Automated Vehicles. We then distinguish between communication middlewares and architecture platforms and highlight their key principles and differences. Next, we present five state-of-the-art middlewares as well as their capabilities and functions. We explore how these middlewares could be applied in the design of future vehicle software and their role in the automotive domain. Finally, we compare the five middlewares presented and discuss open research challenges.

翻译：本文针对自动驾驶汽车当前中间件提供教程。我们的目标是为读者概述现有中间件技术，并指出该领域的开放挑战。首先阐述分布式系统中软件架构的基本原理及自动驾驶汽车的特殊需求，进而区分通信中间件与架构平台，重点说明其核心原理与差异。随后介绍五种先进中间件及其功能特性，探讨这些中间件在未来汽车软件设计中的应用方式及其在汽车领域的作用。最后对五种中间件进行比较分析，并讨论待解决的研究挑战。