2022/05/06 by Yu-Shun Hsiao, Siva Kumar Sastry Hari, Hsiao, Yu-Shun +13 · 2 citations
Engineering · Physics and Astronomy · #Advanced Optical Sensing Technologies #Artificial Intelligence (cs.AI) #Autonomous Vehicle Technology and Safety #CCD and CMOS Imaging Sensors #FOS: Computer and information sciences #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2205.03347
openalex publication_date 2022/05/06 · openalex created_date 2022/05/11 · openalex updated_date 2026/07/28
The processing requirement of autonomous vehicles (AVs) for high-accuracy perception in complex scenarios can exceed the resources offered by the in-vehicle computer, degrading safety and comfort. This paper proposes a sensor frame processing rate (FPR) estimation model, Zhuyi, that quantifies the minimum safe FPR continuously in a driving scenario. Zhuyi can be employed post-deployment as an online safety check and to prioritize work. Experiments conducted using a multi-camera state-of-the-art industry AV system show that Zhuyi's estimated FPRs are conservative, yet the system can maintain safety by processing only 36% or fewer frames compared to a default 30-FPR system in the tested scenarios.