The emergence of Software-Defined Vehicles (SDVs) signifies a shift from a distributed network of electronic control units (ECUs) to a centralized computing architecture within the vehicle's electrical and electronic systems. This transition addresses the growing complexity and demand for enhanced functionality in traditional E/E architectures, with containerization and virtualization streamlining software development and updates within the SDV framework. While widely used in cloud computing, their performance and suitability for intelligent vehicles have yet to be thoroughly evaluated. In this work, we conduct a comprehensive performance evaluation of containerization and virtualization on embedded and high-performance AMD64 and ARM64 systems, focusing on CPU, memory, network, and disk metrics. In addition, we assess their impact on real-world automotive applications using the Autoware framework and further integrate a microservice-based architecture to evaluate its start-up time and resource consumption. Our extensive experiments reveal a slight 0-5% performance decline in CPU, memory, and network usage for both containerization and virtualization compared to bare-metal setups, with more significant reductions in disk operations-5-15% for containerized environments and up to 35% for virtualized setups. Despite these declines, experiments with actual vehicle applications demonstrate minimal impact on the Autoware framework, and in some cases, a microservice architecture integration improves start-up time by up to 18%.

翻译：软件定义汽车（SDV）的出现标志着汽车电气电子系统从分布式电子控制单元（ECU）网络向集中式计算架构的转变。这一转变旨在应对传统电气电子架构日益增长的复杂性和对增强功能的需求，而容器化与虚拟化技术则能简化SDV框架内的软件开发和更新流程。尽管这些技术在云计算领域已广泛应用，但其在智能汽车场景下的性能表现与适用性尚未得到充分评估。本研究对嵌入式系统及高性能AMD64与ARM64平台上的容器化与虚拟化技术进行了全面的性能评估，重点关注CPU、内存、网络及磁盘性能指标。此外，我们通过Autoware框架评估了这些技术对实际汽车应用的影响，并进一步集成基于微服务的架构以评估其启动时间与资源消耗。大量实验表明：相较于裸机环境，容器化与虚拟化在CPU、内存及网络使用方面仅产生0-5%的轻微性能下降；而在磁盘操作方面性能下降更为显著——容器化环境下降5-15%，虚拟化环境降幅最高可达35%。尽管存在这些性能下降，实际车辆应用实验表明其对Autoware框架的影响微乎其微，且在部分场景中，微服务架构的集成使系统启动时间缩短了最高18%。