隨著自動駕駛車變得越來越具有智慧，基於Robot Operating System (ROS)上的自動駕駛軟體，它的複雜性也隨之增加。對於系統設計師來說，快速了解這種複雜軟體的運作行為以及效能，是一個巨大的挑戰，因為目前現有效能分析工具雖然方便，但無法以較為上層的角度，去展示自駕軟體模組之間的交互作用。此篇論文設計了一種新的圖形表示形式──執行流程圖，以表達ROS裡模組間的執行順序，以及展示相關的效能統計數據。我們將這種以執行流程圖為主軸的分析方法應用在自動駕駛軟體──Autoware及Navigation stack裡，得到了令人振奮的結果。

The complexity of the Robot Operating System (ROS) based autonomous software grows as autonomous vehicles get more intelligent. It is a big challenge for system designers to rapidly understand runtime behaviors and performance of such sophisticated software because the conventional tools are insufficient for characterizing the high-level interactions of the modules within the software. In this thesis, a new graphical representation, execution flow graph, is devised to represent the execution sequences and related performance statistics of the ROS modules. The execution flow aware profiling is applied on the autonomous software, Autoware and Navigation Stack, with encouraging results.

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