A computer-implemented method for managing data streams of processing nodes in an autonomous vehicle, the method comprising: receiving a first request from a first processing node to produce data blocks of a first data stream representing a first communication topic to be subscribed by another processing node, wherein the first processing node is one of a plurality of processing nodes, each processing node handling a specific function of operating an autonomous vehicle, and wherein each of the processing nodes is executed within a specific node container having a specific operating environment; in response to the first request, allocating a first global memory segment from a global memory to store the data blocks of the first data stream; mapping a first local memory segment to the first global memory segment, the first local memory segment being allocated from a first local memory of a first node container containing the first processing node, wherein the first processing node directly accesses the data blocks of the first data stream stored in the first global memory segment by accessing the mapped first local memory segment within the first node container; receiving a second request from a second processing node to subscribe the first communication topic; and in response to the second request, mapping a second local memory segment to the first global memory segment, the second local memory segment being allocated from a second local memory of a second node container containing the second processing node, wherein the second processing node directly accesses the data blocks of the first data stream stored in the first global memory segment by accessing the mapped second local memory segment within the second node container. receiving a first request from a first processing node to produce data blocks of a first data stream representing a first communication topic to be subscribed by another processing node, wherein the first processing node is one of a plurality of processing nodes, each processing node handling a specific function of operating an autonomous vehicle, and wherein each of the processing nodes is executed within a specific node container having a specific operating environment; in response to the first request, allocating a first global memory segment from a global memory to store the data blocks of the first data stream; mapping a first local memory segment to the first global memory segment, the first local memory segment being allocated from a first local memory of a first node container containing the first processing node, wherein the first processing node directly accesses the data blocks of the first data stream stored in the first global memory segment by accessing the mapped first local memory segment within the first node container; receiving a second request from a second processing node to subscribe the first communication topic; and in response to the second request, mapping a second local memory segment to the first global memory segment, the second local memory segment being allocated from a second local memory of a second node container containing the second processing node, wherein the second processing node directly accesses the data blocks of the first data stream stored in the first global memory segment by accessing the mapped second local memory segment within the second node container. <EOS>