Abstract
Recently,smart roadside infrastructure (SRI) has demonstrated the potential of achieving fully autonomous driving systems. To explore the potential of infrastructure-assisted autonomous driving, this paper presents the design and deployment of Soar, the first end-to-end SRI system specifically designed to support autonomous driving systems. Soar consists of both software and hardware components carefully designed to overcome various system and physical challenges. Soar can leverage the existing operational infrastructure like street lampposts for a lower barrier of adoption. Soar adopts a new communication architecture that comprises a bi-directional multi-hop I2I network and a downlink I2V broadcast service, which are designed based on off-the-shelf 802.11ac interfaces in an integrated manner. Soar also features a hierarchical DL task management framework to achieve desirable load balancing among nodes and enable them to collaborate efficiently to run multiple data-intensive autonomous driving applications. We deployed a total of 18 Soar nodes on existing lampposts on campus, which have been operational for over two years. Our real-world evaluation shows that Soar can support a diverse set of autonomous driving applications and achieve desirable real-time performance and high communication reliability. Our findings and experiences in this work offer key insights into the development and deployment of next-generation smart roadside infrastructure and autonomous driving systems.
Abstract (translated)
近年来，智能路边设施（SRI）已经展示了实现完全自动驾驶系统的潜力。为了探索基于基础设施的自动驾驶系统的潜力，本文提出了Soar，第一个专门支持自动驾驶系统的端到端SRI系统的设计和部署。Soar由软件和硬件组件精心设计，以克服各种系统和物理挑战。Soar可以利用现有的道路路灯等运营基础设施，具有较低的采用门槛。Soar采用了一种新的通信架构，包括双向多跳的I2I网络和下行的I2V广播服务，这些服务基于集成802.11ac接口。Soar还具有分层DL任务管理框架，以实现节点之间可观的负载均衡，并使它们能够有效协作运行多个数据密集的自动驾驶应用程序。我们在校园内的18个现有路灯上部署了Soar节点，这些路灯已经运营了两年多。我们的实际评估结果表明，Soar可以支持各种自动驾驶应用程序，实现可观的真实世界性能和高的通信可靠性。本文的研究成果和经验为下一代智能路边设施和自动驾驶系统的开发和部署提供了关键见解。
URL
https://arxiv.org/abs/2404.13786
