US Patent 11327489 Shared memory architecture for a vehicle

A shared memory message system for communication between modules configured to perform a function related to controlling a vehicle in a computer system on the vehicle. The system may include a plurality of modules each representative as a node, the plurality of modules collectively representative as a plurality of nodes, each node a publisher node and/or a subscriber node, a topic registry having message storage location information, message buffers configured to store published messages, and a communication bus coupled to the topic registry, the message buffers, and the plurality of nodes. The communication bus is configured such that publisher node messages are stored in a message buffer and associated storage location information is stored in the topic registry without going through the kernel of the computer system, and such that subscriber nodes can read messages from a message buffer without going through the computer system kernel.