Oops! It's Too Late. Your Autonomous Driving System Needs a Faster Middleware

doi:10.1109/LRA.2021.3097439

	Oops! It's Too Late. Your Autonomous Driving System Needs a Faster Middleware
	Wu, Tianze 7,8; Wu, Baofu 1,9; Wang, Sa 2,3; Liu, Liangkai 1; Liu, Shaoshan 4; Bao, Yungang 5,6; Shi, Weisong 1
刊名	IEEE ROBOTICS AND AUTOMATION LETTERS
	2021-10-01
卷号	6 期号:4 页码:7301-7308
关键词	Embedded systems for robotic and automation software architecture for robotic and automation distributed robot systems
ISSN号	2377-3766
DOI	10.1109/LRA.2021.3097439
英文摘要	Autonomous Driving (AD) has entered a period of rapid development in recent years. With the amount of sensors and control logics installed increasing tremendously to guarantee robustness, a big challenge is posed for AD middleware. Both the academia and the industry are eager for an investigation of the performance of middlewares in Autonomous Driving Vehicles (AVs). To fill this gap, we summarize typical communication scenarios of AVs and evaluate different communication mechanisms of three popular open-source middlewares comprehensively. Besides, we construct a benchmark pack named ComP which consists of a perception communication scenario and a group of real AD applications for researchers to assess middleware performance. Our findings provide useful guidelines for researchers and insightful optimization advice for designing middlewares.
资助项目	Key Area Research and Development Program of Guangdong Province[2020B010164003] ; National Natural Science Foundation of China[62090020] ; Youth Innovation Promotion Association of Chinese Academy of Sciences[2013073] ; Youth Innovation Promotion Association of Chinese Academy of Sciences[2020105] ; Strategic Priority Research Program of Chinese Academy of Sciences[XDC05030200]
WOS研究方向	Robotics
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000681126100001
内容类型	期刊论文
源URL	[http://119.78.100.204/handle/2XEOYT63/17414]
专题	中国科学院计算技术研究所
通讯作者	Wu, Tianze
作者单位	1.Wayne State Univ, Detroit, MI 48202 USA 2.Univ Chinese Acad Sci, State Key Lab Comp Architecture, Inst Comp Technol, Nanjing, Peoples R China 3.Univ Chinese Acad Sci, Inst Comp Technol Nanjing, Nanjing 100190, Peoples R China 4.PerceptIn, Santa Clara, CA 95054 USA 5.Peng Cheng Lab, Beijing 100190, Peoples R China 6.Univ Chinese Acad Sci, State Key Lab Comp Architecture, Inst Comp Technol, Beijing 100190, Peoples R China 7.Chinese Acedemy Sci, State Key Lab Comp Architecture, Inst Comp Technol, Beijing 100089, Peoples R China 8.Univ Chinese Acad Sci, Beijing 100089, Peoples R China 9.Hangzhou Dianzi Univ, Sch Comp Sci & Technol, Hangzhou 310018, Peoples R China
推荐引用方式 GB/T 7714	Wu, Tianze,Wu, Baofu,Wang, Sa,et al. Oops! It's Too Late. Your Autonomous Driving System Needs a Faster Middleware[J]. IEEE ROBOTICS AND AUTOMATION LETTERS,2021,6(4):7301-7308.
APA	Wu, Tianze.,Wu, Baofu.,Wang, Sa.,Liu, Liangkai.,Liu, Shaoshan.,...&Shi, Weisong.(2021).Oops! It's Too Late. Your Autonomous Driving System Needs a Faster Middleware.IEEE ROBOTICS AND AUTOMATION LETTERS,6(4),7301-7308.
MLA	Wu, Tianze,et al."Oops! It's Too Late. Your Autonomous Driving System Needs a Faster Middleware".IEEE ROBOTICS AND AUTOMATION LETTERS 6.4(2021):7301-7308.